Determining x,y,z,t biomechanics of moving actor with multiple cameras

ABSTRACT

A plurality of high speed tracking cameras is pointed towards a routine hovering area of an in-the-field sports participant who routinely hovers about that area. Spots within the hovering area are registered relative to a predetermined multi-dimensional coordinates reference frame (e.g., Xw, Yw, Zw, Tw) such that two-dimensional coordinates of 2D images captured by the high speed tracking cameras can be converted to multi-dimensional coordinates of the reference frame. A body part recognizing unit recognizes 2D locations of a specific body part in the 2D captured images and a mapping unit maps them into the multi-dimensional coordinates of the reference frame. A multi-dimensional curve generator then generates a multi-dimensional motion curve describing motion of the body part based on the mapped coordinates (e.g., Xw, Yw, Zw, Tw). The generated multi-dimensional motion curve is used to discover cross correlations between play action motions of the in-the-field sports participant and real-world sports results.

CROSS REFERENCES TO RELATED APPLICATIONS

This application is related to and claims priority from the following USpatents and patent applications. This application is a continuation ofU.S. application Ser. No. 14/687,791, filed Apr. 15, 2015, which isincorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to four-dimensional biomechanical modelgeneration for sports participants, and more specifically determiningX,Y,Z,T biomechanics of a moving actor with multiple cameras.

2. Description of the Prior Art

It is generally known in the prior art to provide systems for recordingand tracking sports participants at live sport events.

Prior art patent documents include the following:

US Pub. No. 2010/0030350 for “System and method for analyzing data fromathletic events” by House, filed Jun. 23, 2009 and published Feb. 4,2010 describes embodiments of this invention relate to generatinginformation from an athletic event. In an embodiment, a method includesreceiving an aspect of a first object and an aspect of a second objectin an athletic event. In some cases, objects may be athletes, balls,pucks, game officials, goals, defined areas, time periods or othersports related objects. Aspects may include but are not limited to, alocation, motion, pose, shape or size. The method further includesdetermining a data representation based on the aspect of the firstobject relative to the aspect of the second object. In some cases, datarepresentations may be stored in a data server. In other cases, datarepresentations may be displayed. In another embodiment, a systemincludes an object tracker and a data manager. Aspects may be recordedusing a sensor system.

US Pub. No. 20008/0219509 for “Tracking an object with multipleasynchronous cameras” by White, filed Mar. 19, 2007 and published Sep.11, 2008, describes the path and/or position of an object is trackedusing two or more cameras which run asynchronously so there is need toprovide a common timing signal to each camera. Captured images areanalyzed to detect a position of the object in the image. Equations ofmotion for the object are then solved based on the detected positionsand a transformation which relates the detected positions to a desiredcoordinate system in which the path is to be described. The position ofan object can also be determined from a position which meets a distancemetric relative to lines of position from three or more images. Theimages can be enhanced to depict the path and/or position of the objectas a graphical element. Further, statistics such as maximum object speedand distance traveled can be obtained. Applications include tracking theposition of a game object at a sports event.

US Pub. No. 2016/267663 for “Systems and methods for analyzing sportsimpacts” by Sicking, filed Nov. 14, 2014 and published Sep. 15, 2016,describes in one embodiment, a method for analyzing sports impactsincludes capturing video of game play from multiple locations usingvideo cameras, tracking the heads of players of the games in the video,computing motion parameters of the heads, and determining if one or moreof the motion parameters exceeds a threshold established for thatparameter.

SUMMARY OF THE INVENTION

There are many applications in which it is useful to track and recordmoving objects and/or moving persons while they are in a live eventenvironment. For example, cars and people may be tracked in securitysurveillance applications, the trajectory of a baseball may be trackedduring a live baseball game, and corresponding performances of playersduring live sporting events may be video recorded and combined with thetracking information to enhance video presentations and reviews of playaction events.

Typically, such object/person tracking techniques use two or morein-the-field and identical cameras whose starts of frames and starts ofscan lines are, at least in theory, precisely synchronized to oneanother so as to capture respective images of the target at identicallytimed (same instances) of frames and scan lines but from differentpoints of view. In theory, such precisely synchronized images may beused to determine or estimate three-dimensional (3D) positions of thefocused-upon moving object and/or person (targets) over time where thedetermined three-dimensional rendition is based on the two-dimensional(2D) image projections of the targets as depicted in the preciselysynchronized scan line feeds obtained from the respective anddifferently aimed cameras. However, in real world situations, theprecise synchronizing of such in-the-field cameras at minimum can becumbersome, time consuming and prone to error if not impossible. Forexample, in one approach, a high resolution, noise-free clock signalmust be made available simultaneously at each of the cameras, e.g.,using a technique referred to as “genlocking” in the broadcast industryand that precisely-synchronized at every location “genlock” signal mustbe used to continuously force (to jam start) identical start of frametimes in all the cameras. Even if that is done, there is no guaranteethat the horizontal scan clocks of the cameras will be identical andthat their respective image scanning lines will be preciselysynchronized. In other words, “genlocking” has its limitations. Inaddition to the extra equipment which is needed for genlocking, e.g.,cables and connectors, and the labor required to provide a preciselyphased, noise-free genlock clock signal to perhaps far apart locationswithin a live event environment, another problem is that failures can bedifficult to detect until it is too late. As a result, the quality ofthe resulting 3D renditions can be questionable. One subtle way in whichthe synchronization can fail is when the signal path of the clock signalprovided to the in-the-field cameras has improper termination. This cancause signal reflections and signal delays, effectively destroying therequired precision of synchronization.

An additional drawback to genlock-wise synchronized multi-camera targettracking is the sheer amount of high resolution video data that isgenerated and that needs to be stored for indefinite lengths of timebecause users never know for sure when they may wish to replay parts orall of the collected video and use the same for performance analysis.Moreover, interpretation of the replayed video often calls for manualobservation and subjective judgment as to quality and details of playerand/or object motion, which can be a costly and error prone endeavor.

It is to be understood that this description of related technologysection is intended to provide useful background for understanding thehere disclosed technology and as such, the technology background sectionmay include ideas, concepts or recognitions that were not part of whatwas known or appreciated by those skilled in the pertinent art prior tocorresponding invention dates of subject matter disclosed herein.

The present disclosure addresses the above and other issues by providingan automated system and method that can be used for recordingin-the-field, live action positions and/or motions of one or more ofin-the-field sports participants where the recordings can be transformedinto rendering of four-dimensional (4D: for example x, y, z and tparameters) player-biomechanical models, where the in-the-fieldrecording method uses cameras that are not necessarily identical to oneanother and are not necessarily precisely synchronized to one anotherdown to the level of simultaneously started frames and simultaneouslystarted scan lines. Rather than starting with a need for precisealignment at the image capturing end of the image-to-modeltransformation process, the present disclosure recognizes that therespective transformations from each 2D image capturing camera to thefinal four-dimensional (4D) object model should converge on having allsample points in the ultimate 4D model simultaneously operating inaccordance with a single time axis and respective single frame ofspatial coordinates (e.g., x, y and z) while additionally those samplepoints should be in compliance with various physical laws of natureincluding for example laws of biomechanics (e.g., fixed bone distancebetween elbow joint and shoulder joint). In one embodiment, a timesynching code is fed to all the cameras so that respective frames and/orscan lines of those cameras can be annotated with respective startand/or end times even if those frames and/or scan lines are notprecisely in synch with one another. In another embodiment, no timesynching code is fed to at least some of the cameras and those camerasare allowed to freely operate asynchronously relative to others of theutilized cameras.

One embodiment generates biomechanical motion models of the videoedplayers and stores the modeled biomechanics in a queriable database(DB). The database may further store corresponding sports results (e.g.,indicating if an identified pitcher whose motions were tracked andmodeled, struck out the baseball batter or not) as well as storing dataabout surrounding field effects (e.g., a cheering spectator crowd) anddata about in-the-field biometric attributes (e.g., heart rates) of therespective sports participants. The various stored items of the databaseare logically linked to the modeled biomechanics so that correlationsbetween stored data sets, and in particular between specific motions orpositions of the modeled players and corresponding game results, can befound using database mining techniques. The found correlations can beused during inter-game training for improving the in-the-field liveperformances of the sports participants. The above is to be contrastedwith in-the-laboratory modeling of player motions where the attributesof in-the field live action are hard to replicate and the resultingmodeling information is not likely to be indicative of live,in-the-field performance.

In one embodiment, a method for generating a biomechanical model of anin-the-field moving sports participant includes determining positionsand motions of body parts of the moving player (e.g., elbow positions,elbow velocities) by receiving in-the-field, live play action images ofthe player from multiple high speed cameras at different time pointsduring a play-action time interval, where the cameras capture theirrespective, line scanned images asynchronously (even if annotated by ashared time synching code) and inconsistencies between the respectiveimages are resolved based on biomechanical and/or other physical rulesof nature. The method includes using the captured 2D images to constructa unified four-dimensional moving model of the in-the-field sportsparticipant (e.g., a skeletal model) where the unified four-dimensionsinclude time (t) and can further include as a nonlimiting example, apredetermined X, Y and Z frame of reference. The method further includescross associating points of motion stored for the model with variousenvironmental conditions and results, for example by logically linkingcertain movements or positions (e.g., elbow positions, elbow velocitiesof a baseball pitcher) to positive or negative game results. Later, thedatabase may be queried to find useful cross-correlations between playermotions and/or positions versus game outcomes so as to determine whichcross correlates with the other, if at all. More specifically and forsake of example, the captured 2D images can be those of video footagesegments of a sporting event where certain players (e.g., baseballpitcher, baseball batter, hockey goal tender) tend to hover aboutrelatively fixed areas in the field of play and where the focused-uponplayers tend to employ repetitive movements (e.g., pitching a baseball,lobbing a penalty basketball shot from the foul line, defending a hockeygoal area) while hovering about their areas of typically repetitivemovements (e.g., about the baseball pitcher's mound). Statistics aboutthe repetitive motions and examinations of their details and discoveryof significant cross correlations can be obtained from use of thedisclosed system. Reports can be generated to indicate for example,whether a specific baseball pitcher performs best if he plants his backfoot in a first location on the pitching mound and simultaneously raiseshis throwing elbow above a second location before commencing his pitch.A biomechanical model of the moving player can depict interrelatedaspects of the player's motions and/or environmental surroundings, thusproviding useful statistics regarding possible cross correlationsbetween environment and/or positions and/or motions to correspondinggame results where these can be later used for training and performanceimprovement purposes.

In one embodiment, multiple high speed tracking cameras are operated(e.g., semi asynchronously, meaning with use of a time synch codesignal) from different positions and while aimed to have differentframes of reference so as to captured images of a targeted moving playerduring an in-the-field sports event. The captured camera images are fedto a processing facility which: a) receives the captured images from thecameras, b) determines three-dimensional positions and movements ofrespective body parts (e.g., elbows, ankles, wrists) of the movingplayer based on the received images, and c) generates coefficients ofequations that describe smooth and physics based biomechanical motionsof the moving player based on the determined three-dimensionalpositions.

In one embodiment, at least one processor-readable storage device hasdata processor readable and executable code embodied therein forprogramming at least one data processor to perform the above-describedmethod.

In one embodiment, a method for determining the biomechanicalcoefficients of a moving in-the-field sports participant includesreceiving at least first, second and third images of the movingparticipant from multiple cameras positioned about the field of play,where the cameras capture their respective images at a speed greaterthan 30 frames per second, for example at 240 frames per second (240f/s) or faster.

In other embodiments, correspondingly appropriate systems and processorreadable storage devices are provided.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts an in-the-field sports participant and a multi-camerasystem for tracking the positions and movements of body parts of thesports participant relative to in-the-field spatial reference points andgenerating a multi-dimensional (4D), biomechanically-based moving modelof the participant based on video feeds from the multiple cameras.

FIG. 2 depicts a generated biomechanics-based model for a baseballpitcher which takes into account muscle masses, bone lengths and jointpositionings.

FIG. 3 depicts a flow chart of a process for capturing event imagery andconverting it into a biomechanics-based model.

FIG. 4 depicts a flow chart of a process for using a plurality of modelscreated by the process of FIG. 3.

FIG. 5 depicts a hardware configuration that may be used for baseballgames.

FIG. 6 depicts additional details for a system in accordance with thepresent disclosure.

DETAILED DESCRIPTION

The present disclosure provides a system and method for modeling thebiomechanics of one or more in-the-field sports participants while usinga plurality of in-the-field and differently positioned cameras that arenot necessarily all genlocked one to another. These plural cameras maybe free running and may use their internal clocks for determining theirrespective image capture rates (e.g., frames per second, phasing ofstart of each frame and phasing of start of each image scan line). Inone embodiment, the respective frames and/or image scan lines are taggedwith a shared time synchronizing code signal. Thus, the cameras cancapture images on a substantially free-running basis without beingencumbered by a need for force synchronizing (e.g., force jamming) thestarts of their respective frames to a common genlock synchronizationclock that has to be distributed noise-free and in phase to far apartin-the-field positions. In one embodiment, each of the high speed motiontracking cameras operates at a speed substantially greater than 30frames per second (F/s), for example at least at 120 F/s and morepreferably at 240 F/s or faster. In one embodiment, each of the highspeed motion tracking cameras provides a signal indicating a localtiming measurement of its frame-to-frame spacing so that the temporalrelationship between the frames of that camera are known to a relativelyhigh degree of precision (e.g., to milliseconds or finer). Accordingly,when a plurality of successive frames from a same camera are received,the temporal spacing between the frames of that series is known to arelatively high degree of precision. Additionally, as mentioned, in oneembodiment, the respective frames and/or image scan lines of therespective cameras are tagged with a shared time synchronizing codesignal.

FIG. 1 schematically depicts a system 100 configured for tracking anin-the-field, first sports participant (moving actor) 110 while thelatter is participating in a live in-the-field sports event within apre-specified event facility 101 (e.g., baseball field). In oneembodiment, not only is the first participant 110 tracked, but also agame object such as a baseball 111 is also tracked as it is thrown froma pitcher's mound area 107′ to a batter's plate (home plate) 105 withinthe event facility (e.g., baseball stadium 101). It will be appreciatedthat although the sport of baseball is used here as an example, manyother applications are possible in which an actor (110) performsrelatively repetitive motions in a relatively limited area where thatlimited area is a pre-registered area (107′) having local positionregistration spots 107 whose locations and dimensions are predeterminedrelative to a common or “world” coordinates frame 109 which includes forexample, Cartesian axes Xw, Yw and Zw as well a “world” time clock Tw.The “world” coordinates of specific registration spots 107 within thepre-registered area (107′) may be established for example by use ofpre-event planted fiducial objects whose images are captured bypre-paced cameras (e.g., high speed tracking cameras 121-123). Among theexamples of other usages, the surveillance and modeling process cantrack the movements of a golfer at a pre-registered tee off spot and atrajectory of a golf ball departing from that spot, or it can track themovements of a goal keeper and a hockey puck approaching apre-registered goal frontage area or it can track the movements ofanother in-the-field sports participant and behavior of anothersports-related object (e.g., a basketball player at the penalty or foulline while shooting a penalty shot or a football placekicker at a kickoff position after his team has scored a goal).

In the illustrated example, the event facility 101 includes a baseballdiamond infield having a pitcher's mound (area) 107′ and a home plate105. A path 103 depicts the general trajectory of a baseball thrown fromthe pitcher to a catcher positioned behind home plate 105. As indicatedin the enlarged image of the pitcher 110 and pitcher's mound area 107,three or more registration spots have been surveyed and registered withrespect to position and apparent 2D size before the sports event and inrelation to a predefined three-dimensional (3D) “world” coordinatesframe 109. In one embodiment, the origin of the 3D “world” coordinatesframe 109 is at the center of home plate 105. Registration includes aprocess of obtaining respective frame transformation matrices whichprovide a conversion between a respective image capture coordinatesystem (e.g., 121 xyz, 122 xyz, 123 xyz in FIG. 1) of each respectivetracking camera (e.g., 121, 122 and 123 of FIG. 1) and the worldcoordinate system 109. Because it is known what the world coordinatesystem coordinates are of the at least three pre-registered referencespots 107 about the pitcher's mound, each time a camera is aimed toinclude those reference spots 107 in its 2D image, a conversion can becarried out from the pixel coordinates of the 2D image to the 3Dcoordinates of the world coordinate system 109. Further information canbe found in E. Trucco and A. Verri, “Introductory techniques for 3-Dcomputer vision,” chapter 6, Prentice Hall, 1998, U.S. Pat. No.5,912,700, issued Jun. 15, 1999, and U.S. Pat. No. 6,133,946, issuedOct. 17, 2000, each of which is incorporated herein by reference.

Aside from having three or more high speed motion-tracking cameras(e.g., 121, 122 and 123) pointed at the pre-registered pitcher's mound107, one or more field-effect gathering cameras such as 124 may beprovided to face and report on spectator behavior and/or generallighting and weather conditions. More specifically, one group ofspectators may be seated in a spectators' area 106 behind home plate105. One relatively low speed video camera 124 may be provided facingthat spectators' area 106 to capture images telling of the moods of thespectators in that area 106. For example, the spectators (106) may becheering or jeering the pitcher 110 depending on which team they favor.The at least three, motion tracking cameras, 121, 122 and 123 arepositioned in a roughly semi-circular pattern about the tracked player(e.g., 110) and are configured to capture high frame rate images of thepitcher 110 and the pitched ball 111. In one embodiment, a first of thehigh speed cameras 121 is located in or near the third base dugout. Asecond high speed cameras 122 is located in or near the first basedugout. A third high speed camera 123 (a.k.a. Camera 1C) is locatedbehind home plate in the corresponding, behind home, spectators' area106 and at a substantially greater height than the heights of cameras121 (a.k.a. Camera 1A) and 122 (a.k.a. Camera 1B). Field-effectcapturing camera 124 may be pointed at the area of the third high speedcamera 123 for creating a low speed record of the environmentsurrounding that third high speed camera 123. Each of cameras 121, 122and 123 has a respective but different point of view (POV) and each hasa respective XYZ local reference frame (121 xyz, 122 xyz, 123 xyz) thatdepends on how the corresponding image detection plates (121YZ, 122YZ,123YZ) of the respective high speed cameras 121-123 are positioned. Inone embodiment, each of the high speed cameras 121-123 operates at 240Frames per second (240 F/s) or faster and has a 1280 by 780 imagecapture plate (121YZ, 122YZ, 123YZ). It is to be appreciated that therespective high speed cameras 121-123 need not be identical to oneanother because ultimately, respective pixels (or other such pictureelement areas) of their respective image capture plate (121YZ, 122YZ,123YZ) are individually mapped to a shared multi-dimensional frame ofreference (e.g., frame 109 having Cartesian axes Xw, Yw and Zw as wellas world time clock Tw) in a manner that unifies a correspondingmulti-dimensional actor model (150) so that the model substantiallycomplies with various laws of physics (e.g., F=m*a) and optionally lawsof biomechanics. By contrast, the slower-speed spectators watchingcamera 124 operates at, for example a more conventional 30 Frames persecond. The substantially greater frame rates of the high speed cameras121-123 are picked so as to obtain a larger number of captured positionstates of the pitcher 110 and of the pitched ball 111 as the pitcher 110goes through his pitching motions at high speed. The frame rates of thehigh speed cameras 121-123 do not all have to be the same. However, itis preferred that they be the same so that one backup camera (not shown)can substitute in for any of cameras 121-123 that happens to fail duringan in-the-field event. In an alternate embodiment, the high speedcameras are provided as paired and close to one another identicals (atleast two of each kind) so that if one fails, its twin can besubstituted in for it. The desirable speed for the high speed trackingcameras (e.g., 121-123) may vary from application to applicationdepending on the duration of a play action event that is to be capturedby way of at least N sample states distributed over time, where N is arelatively large number (e.g., 50 or more) that provides a sufficientnumber of samples for enabling the rendering of an interpolation-wisefitted mathematical curve describing a correspondingly sampled motion asa smooth physics-based curve that extends continuously both inthree-dimensional space and in time with minimizable error relative towhat actually transpired in-the-field. Here, the spatial coordinates ofthe smooth physics-based curve may coincide with the “world” coordinatesframe 109 and the temporal coordinate of the smooth physics-based curvemay coincide with the “world” time clock Tw. For each point on thesmooth physics-based curve (e.g., 162 f of FIG. 1, 262 f of FIG. 2)there is a corresponding, single time point value (e.g., in terms of Tw)and a single set of three-dimensional coordinates (e.g., in terms of Xw,Yw and Zw).

While one application contemplates just three high speed trackingcameras (e.g., 121-123) per focused-upon player, additional motiontracking cameras and field-effect capturing cameras can be used toincrease the accuracy of high speed tracking and of the slower speedrecording of field conditions during the sporting event. While in oneembodiment, all the cameras are configured to sense visible light (e.g.,390-700 nm in wavelength), it is within the contemplation of the presentdisclosure to use cameras that alternatively or additionally senseelectromagnetic radiation outside the range of visible light, such asinfrared radiation (IR), depending on the application, where the imageryin the outside-of-visible ranges may be used to facilitate automatedrecognition of skeletal features and/or to pinpoint thermal hot spots onthe pitcher's body and/or pinpoint the location of distinguishingclothing fibers included in the players uniform and havingdistinguishing spectral characteristics and/or light polarizingcharacteristics.

High speed image capture cameras (e.g., ones that operate at 240 Framesper second (240 F/s) or faster) are used for cameras 121-123 becausemore image samples per second results in more sample states forreconstructing a physics-based model (and preferably also abiomechanically compliant model) of what is seen in the camera capturedframes. For instance, capturing images of a flying bullet at differentpoints along its path would typically require a faster image capturerate than capturing images of a car driving slowly (e.g., less than 50MPH) on a highway. So for the case of a pitched ball that travels atclose to 100 MPH and for the case of the pitcher whose throwing handreleases the ball at that speed, 240 F/s or faster is preferred.Moreover, a sufficient number of observations from different points ofview (POV's) is desired so that modeling is based on independentwitnessing of a common event (e.g., the pitching of the baseball) fromdifferent viewpoints (e.g., POV-a, POV-b, POV-c) whereby, even if oneline of sight is obstructed by intervening objects, another line ofsight to the same sample point of interest (e.g., the pitcher's rightelbow) is not obstructed and thus provides independent object trackinginformation. The path 103 of the tracked high speed object (e.g.,baseball) can be described in terms of the world 3D coordinate system109, also known as a free space coordinate system and in terms of realworld time, where the world 3D coordinate system 109 is fixed (by userchoice) relative to the earth or other environment of interest. In oneapproach, the world coordinate system 109 includes orthogonal directionsrepresented by an Xw axis, a Yw axis, and a Zw axis. An origin of theworld coordinate system may be chosen to be, for example an edge pointor center point of home plate 105, but other locations may be used. Thestart of the “world” time clock Tw may be made to coincide with a gametiming clock kept by game officials.

Each camera can be provided with sensors which detect intrinsic andextrinsic parameters of the camera where these parameters can bevariable. Intrinsic parameters, such as focal length, lens distortionand zoom setting represent characteristics of the camera design andsettings, and do not depend on the position and orientation of thecamera in space. Extrinsic parameters, such as tilt or pan, depend onthe position and orientation of the camera in space. Such sensors can beprovided using techniques known to those skilled in the art. Forexample, pan and tilt sensors can be attached to a tripod on which thecamera is mounted. See, e.g., U.S. Pat. No. 5,912,700, issued Jun. 15,1999, incorporated herein by reference. The sensors can be used todetermine the field of view of the camera, e.g., where the camera ispointing and what it can see. The intrinsic and extrinsic parameters ofeach camera are provided to the model constructing subsystem (notexplicitly shown) so that such can be used for transforming between the2D image capture worlds of each camera and the ultimately developedmulti-dimensional (4D) actor model 150. The provided parameters mayinclude data indicating whether the frames of the camera are interlacedor not and indicating the relative temporal sequencings of the scanlines in the camera's video feed.

It is alternatively possible to determine camera extrinsic and intrinsicparameters without sensors, e.g., as described in Tsai's method. See,e.g., Tsai, Roger Y. (1986) “An Efficient and Accurate CameraCalibration Technique for 3D Machine Vision,” Proc. of IEEE Conf. onComputer Vision and Pattern Recognition, Miami Beach, Fla., 1986, pp.364-374. For example, one approach to determine the intrinsic andextrinsic parameters of a camera involves placing reference marks invarious measured or known locations in the event facility such that eachmark looks different and at least one mark will always be visible to thecamera while the camera is pointed at the event facility. Morespecifically, these reference marks may be positioned at convenientspots about the pitcher's mound 107 as indicated in FIG. 1. A computerusing optical recognition technology can find the pre-specified marks orspots in video frames and then, based on the mark's size and position inthe video frame, determine the camera parameters. Another approach todetermining intrinsic and extrinsic parameters of a camera involvesplacing reference marks in various measured or known locations in theevent facility such that each mark looks different, but the marks may beremoved after camera parameters have been determined. A computerimplementing a camera parameter estimation algorithm based on manualuser interaction rather than, or in addition to, image recognition candetermine camera parameters. Moreover, temporal synchronization amongthe plural high speed tracking cameras (e.g., 121-123) may be providedprior to game time by filming a dropping of a ball (e.g., baseball) froma predetermined height directly above one of the on-the-groundregistration points 107 while the dropping ball (or other referenceobject) is in line of sight of all the high speed tracking cameras(preferably while wind is not blowing). Since the dropped object issubject to a known common acceleration (e.g., gravity), its speed anddistance from point of drop may be readily deduced and used fordetermining how its moving image travels across the respective imagecapture plates (121YZ, 122YZ, 123YZ) of the respective cameras. Thus acombination of shared temporal and spatial positionings for a commonlyviewed reference object. The ball drop may be repeated over each of theplural registration points 107. In one embodiment, an electronicallytriggered ball suspending and dropping apparatus may be used.Alternatively, a human may drop the ball.

During the game, the plural high speed tracking cameras (e.g., 121-123)capture respective 2D images of the pitcher 110 and the thrown ball 111in the monitored area 107 (preregistered area) and communicate theimages in the form of analog or digital signals to a processing facility(not explicitly shown) which can be a mobile facility such as a van ortrailer (see briefly 580 of FIG. 5) parked outside the event facility101, in one possible approach. The processing facility includesequipment such as analog or digital image storage units 131, 132 and 133(respectively for high speed cameras 121, 122 and 123) which receive andtemporarily store full lengths of the latest captured motion imagery.However, the full lengths of captured motion imagery including thatbefore and after the pitch are not kept. Instead a pitch detectingmechanism such as a peak ball speed radar gun 120 is used to determinethe approximate time at which the ball 111 is in a play action state, inother words it is being thrown. A time stamp signal TRIG correspondingto a time point on a common clock is passed to each of the image storageunits 131, 132 and 133 to indicate to each, how much (what segmentlength) of a full length of captured motion footage should be kept foreach respective pitch. For example, it may be decided to keep 5 secondsworth of captured frames before the ball 111 is first detected by radargun 120 and 2 seconds worth after. Thus for each pitch event, only therelevant clip of motions (e.g., 7 seconds total) is kept for further useand analysis (including rendering of the current 3D biomechanical motionmodel) and the rest is discarded. This helps to reduce the amount ofdata storage needed. As indicated under skeletal model 150, and by theexemplary frame label 169, each kept frame of each camera may beassigned a Game number (and optionally a Season number not shown), awithin-game Event number (e.g., pitch number), a respective Cameranumber and a respective Frame number of that camera. In one embodiment,a per frame time synch code 169 a is additional recorded in the framelabel 169. The per frame time synch code 169 a is provided from a sharedcode-outputting synch box (not shown) that outputs a common per frametime synch code signal (and optionally a common per scan line time synchcode signal to each of the cameras) and the cameras annotate theirrespective video output signals with corresponding metadata.Alternatively, the time synch code signals of the shared andcode-outputting synch box (not shown) are supplied to correspondingevent storage units (e.g., 131-133) of the respective cameras and thetime synch code signals are merged with the video signal feeds at theevent storage units (e.g., 131-133) instead.

In one embodiment, the kept data is instead initially identified by aunique play action event ID number (e.g., pitch ID number) and a type ofplayer indicator (e.g., pitcher or batter) where the unique play actionevent ID number may for example be a hash of the play action event date,time and arena identification. A substantially same play action event IDnumber may be provided for each paired set of pitcher and batter playactions so that the performances of both can be correlated to oneanother, although such pairing is not necessary. Once the play actionevent date, time and arena ID are extracted, these can be mapped tospecific seasons, game numbers and pitching event numbers where thelatter then map by way of a team's kept records into identifying thespecific pitchers and batters (and optionally other in-the-field sportsparticipants) involved with the event. Data is captured and used by eachteam for its own purposes. Thus, once a team knows the Game number, theyknow from their records which opposing team they played and theidentities of all the players who played and when (e.g., in whichinnings). Once a team knows the within-game Event number (e.g., pitchnumber), they know from their records who the pitcher was, who thebatter was, who the catcher was (who the umpire was) and details abouteach of the specific participants involved in the identified event.Finally from the Camera number and Frame numbers, they can deduce thePoint of View (POV) of the respective frames and the associated cameraintrinsic and extrinsic parameters. The captured, kept and identifiedframes are processed to determine the most likely 3D positions and/orpaths over time of each tracked target (e.g., the pitcher 110 and thethrown ball 111). More specifically, it is known from basic rules ofphysics that no object (of everyday size) can be at two differentlocations at the same time, or have two different speeds or twodifferent trajectories of motion. A set of indicated motion and timingparameters can be developed for each tracking camera and then thoseoriginating from different cameras can be merged using a least squaresor other error reduction technique for determining the most likely 3Dposition, speed and trajectory at each point in time for eachidentifiable and modeled object (e.g., the thrown ball 111, the pitchersright elbow 153, left elbow 156, right knee 163, left knee 168, and soon). The accuracy and resolution of the images merger and common motionequation derivation operation should be sufficiently high to provideddescriptive equations of motion and determine their characteristicparameters, for example, for tracking the thrown baseball 111 to anaccuracy of milliseconds or less as needed. In most cases, an accuracyin the 4D model space (e.g., X, Y, Z, Tw—but could be polar or othercoordinates) is not needed down to the single microsecond scale (1 μs)or the single micrometer scale (1 μm).

When the captured images are provided in video signals from the cameras121-123 and relevant parts are kept based on the shared TRIG signaland/or embedded time synch code signals, the processing facility canthen enhance the kept video signals; e.g., by digitizing them if notalready done, improving contrast so that pre-specified body parts (e.g.,elbows, knees) of the tracked player can be better identified byautomated recognition means so that event representing skeletal or likemodels 150 can be produced based on the determined positions and pathsof the specifically tracked objects. Statistical information regardingeach tracked object can be also be produced for storage in a database(DB 170). This allows for later data mining based on for example,average and/or peak and/or minimum speeds, average directions and/orangles (e.g., angle made at right elbow between forearm and bicepsportion), distance traveled by each tracked object, height of eachtracked object, time of the ball flight in the air and so forth. Theprocessing facility can subsequently transmit the captured, kept andenhanced images and information regarding the TRIG specified play actionevent via a radio antenna (not shown, see FIG. 5 instead) for furtherstorage and further processing at another location such as a televisionbroadcast facility or a sports data processing center.

In terms of detail, for each high speed camera, 121, 122 and 123 and forthe respective 3D orientation 121 xyz, 122 xyz, 123 xyz of itsrespective image capture plane, 121YZ, 122YZ, 123YZ, respectivetransformation matrices may be developed for converting from the 2Dcoordinates of the respective image capture plane, 121YZ, 122YZ or 123YZto the 3D spatial coordinates of the “world” reference frame 109. (Whilenot shown, a similar transformation can be derived for convertingchronologically from the respectively timed, scan lines—which could beinterlaced or not—of each camera to the real world time frame, Tw; wheredue to the image capture time lag from one scan line to the next, thecorresponding pixels do not have identical points of existence along thereal world time line, Tw.) A spatial transformation matrix M, may bedefined based on the localized field spot registration process (e.g.,pitcher's mound area 107) and in accordance with the following equationEQU. 01:

$\begin{matrix}{M = \begin{pmatrix}{m\; 00} & {m\; 01} & {m\; 02} & {m\; 03} \\{m\; 10} & {m\; 11} & {m\; 12} & {m\; 13} \\{m\; 20} & {m\; 21} & {m\; 22} & 1\end{pmatrix}} & ( {{Equ}.\mspace{14mu} 01} )\end{matrix}$

M relates the respective camera image coordinate system to the worldcoordinate system. Equations of motion may be used to express thethree-dimensional location of each tracked object as a function of time.The equations of motion should be sufficiently accurate over the courseof the measured trajectory. Approximate equations of motion andpiecewise equations of motion that apply to portions of the trajectoryare acceptable to provide the estimated position of the object for anygiven relevant time is within required measurement accuracy. Further,the equations used should be suitable for the type of object tracked andthe desired degree of tracking accuracy. For example, the equations ofmotion for a ball 111 or other object under the constant ofgravitational and/or other acceleration in the three-dimensional worldcoordinate system may be as follows:

X _(w)(t)=x ₀ +v _(x0) *t+(½)a _(x) *t ²  (Equ. 02)

Y _(w)(t)=y ₀ +v _(y0) *t+(½)a _(y) *t ²  (Equ. 03)

Z _(w)(t)=z ₀ +v _(z0) *t+(½)a _(z) *t ²  (Equ. 04)

The nine parameters x0, y0, z0, vx0, vy0, vz0, ax, ay and az, arecoefficients of the equations of motion for respective vectordirections. Coefficients x0, y0, z0 denote the initial position,coefficients vx0, vy0, vz0 denote the initial velocity of the object inthe three orthogonal directions at time t=0, and coefficients ax, ay, azdenote the vector components of acceleration operating on the object inthe three orthogonal directions at time t. The acceleration canindicate, e.g., how much force is on the ball, denoting how much it iscurving. The xyz acceleration components can be converted tocorresponding xyz force components (F=ma) once the involved masses aredetermined. For example, one biomechanical model proposed in FIG. 2takes into account both skeletal dimensions (e.g., bone lengths) and themuscle masses carried above and/or below each joint. The mass andacceleration data may be used to deduce how much force is exerted byeach muscle group to defy gravity and to impart an observed accelerationon one or more body parts and/or the sports object (e.g., the pitchedbaseball 111). For convenience, g denotes gravitational acceleration at−9.8 m/sec.sup.2. While the above equations of motion are linear, one ormore non-linear equations can be used as well. For example, a velocitysquared term may be used when it is desired to account for atmosphericdrag on an object in flight.

For each respective image capture plane, 121YZ, 122YZ or 123YZ, aninitial approximation of a location of a tracked object (e.g., 111) inthe image may be identified by the pixel coordinates (sy, sz), where sydenotes a horizontal position in the image and sz denotes a verticalposition in the image. The object can be detected in the image indifferent ways. In one approach, the pixel or subpixel data of the imageis processed to detect areas of contrast which correspond to the objectand its shape (e.g., round). For example, a white baseball may contrastagainst the green grass of the playing field. The expected size of theobject in pixels can be used to avoid false detections. For example, acontrasting area in the image which is significantly smaller or largerthan the expected size of the object can be ruled out as representingthe object. Moreover, once the position of the object in a given imageis identified, its position in subsequent images can be predicted basedon the position in the previous image. Other various techniques foranalyzing images to detect pre-specified objects which will be apparentto those skilled in the art may be used. For example, various patternrecognition techniques can be used. Radar, infra-red and othertechnologies can also be used as discussed in U.S. Pat. No. 5,912,700,issued Jun. 15, 1999, and U.S. Pat. No. 6,133,946, issued Oct. 17, 2000,both of which are incorporated herein by reference. In one embodiment,where initial camera settings do not provide sufficient contrast betweenone or more focused-upon players and their respective backgrounds,optical spectral filters and/or polarizing filters may be added to thecameras to improve contrast between player and background. Morespecifically, in one example player uniforms may be specially coatedwith light polarizing fibers and/or infra-red (IR) absorbing fibers thatsubstantially distinguish the players from natural field materials sothat corresponding camera equipment can capture well contrasted imagesof the players as distinct from background filed imagery.

With respect to recognition of locations of various body parts of thein-the-field sports participant (e.g., the left and right elbows of thepitcher 110), again various pattern recognition techniques can be used,including use of IR band detection for detecting heat signatures ofknown hot spots of the human body (when exercising), use ofpredetermined markers on the player's uniform (e.g., including lightpolarizing markers), head gear and/or foot gear, use of smart or dumbbracelets worn by the player (where a smart bracelet may produce its ownlocation, velocity, acceleration and local temperature data) and use ofruler based biometrics of the identified player. By ‘ruler basedbiometrics’ it is meant here that once the identity of the player isestablished (e.g., by game number and event number), data from adatabase containing ruler-type measurements of distances betweenlandmark body parts can be fetched; for example, the distance from hisleft elbow to his left shoulder (see briefly FIG. 2) and such ‘rulerbased biometrics’ can be used to rule out pattern recognition guessesthat violate laws of physics. More specifically, if an automated patternrecognition guess proposes that the left elbow is located at a positionfarther from the left shoulder than the predetermined distance from hisleft elbow to his left shoulder (see briefly FIG. 2) then clearly thatguess is in error and needs to be ruled out. ‘Ruler based biometrics’ isjust one of many forms of biometric data discussed herein. Generalbiometrics may encompass many forms of real time or pre-event orpost-event measurements relating to the player's biological makeupincluding, but not limited to, skin temperature, perspiration levels,heart rate (e.g., as determined by EKG), blood pressure, metabolitelevels, muscle contraction or tensioning (e.g., as determined by EMG),cranial electrical activities (e.g., as determined by EEG), etc., wherethe measurements of the respective biometric parameters can be said tobe potentially influential on the performance of the player during arespective play action.

Still referring to the conversion of camera plane data to world framedata, the inverse task is to calculate the screen coordinates, (sy, sz),given the world coordinates (world space) of a point. In practice, thepoint in world space might correspond to a physical object like a ball(111) or a part of a geometrical concept, like a lay line, but ingeneral can be any arbitrary point or interrelated set of points. Oneexample method is to break the overall mapping into three separatemappings. First a mapping is carried out from three dimensional (3D)points expressed in world coordinates (world space) to 3 D pointsexpressed in camera centered coordinates. This first mapping may bedenoted as T_(WTC). Second, a mapping is carried out from 3D pointsexpressed in camera centered coordinates, to undistorted two dimensional(2D) screen coordinates (e.g., a position in the video). This mappingmodels the effects of cameras; i.e. producing 2D images from 3D worldscenes. This second mapping may be denoted as K. Third, there is amapping from undistorted screen coordinates to distorted screencoordinates (e.g., a position in the video). This mapping models variouseffects that occur in cameras using lenses; i.e. non-pinhole cameraeffects. This third mapping is denoted here as f.

When composited together, the three mappings create a mapping from worldcoordinates into screen coordinates:

When composited together, the three mappings create a mapping from worldcoordinates into screen coordinates (in the below equations, screencoordinates are given as Sx and Sy):

$\begin{matrix}{\begin{pmatrix}X_{w} \\Y_{w} \\Z_{w}\end{pmatrix}\underset{\underset{T_{WTC}}{}}{arrow}{\begin{pmatrix}X_{c} \\Y_{c} \\Z_{c}\end{pmatrix}\underset{\underset{K}{}}{arrow}{\begin{pmatrix}S_{x} \\S_{y}\end{pmatrix}\underset{\underset{f}{}}{arrow}\begin{pmatrix}s_{x}^{\prime} \\s_{y}^{\prime}\end{pmatrix}}}} & (1)\end{matrix}$

Each of the three mapping noted above will now be described in moredetail.

The mapping from 3D world spatial coordinates to 3D camera centeredcoordinates (T_(WTC)) will be implemented using 4×4 homogeneous matricesand 4×1 homogeneous vectors. The simplest way to convert a 3D worldpoint into a 3D homogeneous vector is to add a 1 into the 4th element ofthe 4×1 homogeneous vector:

$\begin{matrix}{ \underset{\underset{inhomogenous}{}}{\begin{pmatrix}X_{w} \\Y_{w} \\Z_{w}\end{pmatrix}}arrow\underset{\underset{homogenous}{}}{\begin{pmatrix}X_{w} \\Y_{w} \\Z_{w} \\1\end{pmatrix}}  = X_{W}} & (2)\end{matrix}$

The way to convert from a 3D homogeneous vector back to a 3Dinhomogeneous vector is to divide the first 3 elements of the homogenousvector by the 4th element. Note that this implies there are infinitelymany ways to represent the same inhomogeneous 3D point with a 3Dhomogeneous vector since multiplication of the homogeneous vector by aconstant does not change the inhomogeneous 3D point due to the divisionrequired by the conversion. Formally we can write the correspondencebetween one inhomogeneous vector to infinitely many homogeneous vectorsas:

$\begin{matrix} \underset{\underset{inhomogenous}{}}{\begin{pmatrix}X_{w} \\Y_{w} \\Z_{w}\end{pmatrix}}arrow{k\underset{\underset{homogenous}{}}{\begin{pmatrix}X_{w} \\Y_{w} \\Z_{w} \\1\end{pmatrix}}}  & (3)\end{matrix}$

for any k≠0

In general the mapping T_(WTC) can be expressed with a 4×4 matrix:

$\begin{matrix}{T_{WTC} = \begin{bmatrix}t_{11} & t_{12} & t_{13} & t_{14} \\t_{21} & t_{22} & t_{23} & t_{24} \\t_{31} & t_{32} & t_{33} & t_{34} \\t_{41} & t_{42} & t_{43} & t_{44}\end{bmatrix}} & (4)\end{matrix}$

which can be expressed using row vectors as:

$\begin{matrix}{T_{WTC} = \begin{bmatrix}t^{1\; T} \\t^{2\; T} \\t^{3\; T} \\t^{4\; T}\end{bmatrix}} & (5)\end{matrix}$

Finally if we use homogeneous vectors for both the world point m worldcoordinates, X_(w), and the same point expressed in camera centeredcoordinates, X_(c) the mapping between the two is given by matrixmultiplication using T_(WTC):

X _(c) =T _(WTC) X _(w)  (6)

If we want the actual inhomogeneous coordinates of the point in thecamera centered coordinate system we just divide by the 4th element ofX_(c). For example if we want the camera centered x-component of a worldpoint we can write:

$\begin{matrix}{X_{c} = \frac{t^{1\; T}X_{W}}{t^{4\; T}X_{W}}} & (7)\end{matrix}$

To build the matrix T_(WTC), we start in the world coordinate system(word space)—which is a specific UTM zone—and apply appropriatetransformations:

-   -   For example, to translate to a helicopter mounted camera        location (derived from GPS Receiver data): T (H_(x), H_(y),        H_(z))    -   Account for the exemplary helicopter rotation relative to the        world coordinate system, based on obtained inertial data:        -   R_(z) (−Pan_(Heli))        -   R_(x) (−Tilt_(Heli))        -   R_(y) (Roll_(Heli))    -   Account for outer axis (outer axis of camera system) orientation        relative to the exemplary helicopter frame (adjustments for        misalignment of the outer ring relative to the helicopter body):        -   R_(z) (PanAdjust)        -   R_(x) (TiltAdjust)        -   R_(y) (RollAdjust)    -   Account for outer axis transducer measurement from the camera        system and off set of zero readings relative to outer axis:        -   R_(z) (Pan_(Outer)+PanAdjust2)        -   R_(x) (Tilt_(Outer)+TiltAdjust2)            Note that PanAdjust2 and TiltAdjust2 are adjustment values            for imperfections in the outer axis orientation. If the            output of the sensor should be 0 degrees, these parameters            are used to recognize 0 degrees. Pan_(Outer) and            Tilt_(Outer) are the sensor (e.g., transducer) readings            output from the camera system for the outer axis.    -   Account for non-linearity of inner axis (of camera system) pan        and tilt transducer measurements via a look-up table        -   Pan_(Inner) _(_) _(linearized)=L (Pan_(Inner))        -   Tilt_(Inner) _(_) _(linearized)=L′(Tilt_(Inner))    -   Account for inner axis transducer measurements and offset of        zero readings relative to inner ring:        -   R_(z) (Pan_(Inner) _(_) _(linearized)+PanAdjust3)        -   R_(x) (Tilt_(Inner) _(_) _(linearized)+TiltAdjust3)        -   R_(y) (Roll_(Inner)+RollAdjust3)            Note that PanAdjust3, TiltAdjust3 and RollAdjust3 are            adjustment values for imperfections in the inner axis            orientation. If the output, of the sensor should be 0            degrees, these parameters are used to recognize 0 degrees.            Pan_(Inner), Tilt_(Inner) and Roll_(Inner) are the sensor            (e.g., transducer) readings output from the camera system            for the inner axis.    -   Finally, convert to standard coordinate convention for camera        centered coordinate systems with x-axis pointing to the right of        the image, y-axis pointing up in the image, and z-axis pointing        behind the camera

$- \mspace{14mu} {R_{x}( \frac{\pi}{2} )}$

Thus the final rigid-body transform, T_(WTC) which converts pointsexpressed in world coordinates to points expressed in the cameracentered coordinate system and suitable for multiplication by aprojection transform is given by:

$\begin{matrix}{T_{WTC} = {{R_{x}( \frac{\pi}{2} )}{{R_{y}( {{Roll}_{Inner} + {{RollAdjust}\; 3}} )} \cdot {R_{x}( {{Tilt}_{Inner\_ linearized} + {{TiltAdjust}\; 3}} )} \cdot {R_{z}( {{Pan}_{Inner\_ linearized} + {{PanAdjust}\; 3}} )} \cdot {R_{x}( {{Tilt}_{Outer} + {{TiltAdjust}\; 2}} )}}{{R_{z}( {{Pan}_{Outer} + {{PanAdjust}\; 2}} )} \cdot {R_{y}({RollAdjust})}}{R_{x}({TiltAdjust})}{{R_{z}({PanAdjust})} \cdot {R_{y}( {Roll}_{Heli} )}}{R_{x}( {- {Tilt}_{Heli}} )}{R_{z}( {- {Pan}_{Heli}} )}{T( {H_{x},H_{y},H_{z}} )}}} & (8)\end{matrix}$

The form of the three rotation matrices: R_(x), R_(y), R_(z) suitablefor use with 4×1 homogeneous vectors are given below. Here the rotationangle specifies the rotation between the two coordinate systems basisvectors.

$\begin{matrix}{{R_{x}(\alpha)} = \begin{bmatrix}1 & 0 & 0 & 0 \\0 & {\cos \; \alpha} & {\sin \; \alpha} & 0 \\0 & {{- \sin}\; \alpha} & {\cos \; \alpha} & 0 \\0 & 0 & 0 & 1\end{bmatrix}} & (9) \\{{R_{y}(\alpha)} = \begin{bmatrix}{\cos \; \alpha} & 0 & {{- \sin}\; \alpha} & 0 \\0 & 1 & 0 & 0 \\{\sin \; \alpha} & 0 & {\cos \; \alpha} & 0 \\0 & 0 & 0 & 1\end{bmatrix}} & (10) \\{{R_{z}(\alpha)} = \begin{bmatrix}{\cos \; \alpha} & {\sin \; \alpha} & 0 & 0 \\{{- \sin}\; \alpha} & {\cos \; \alpha} & 0 & 0 \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1\end{bmatrix}} & (11)\end{matrix}$

The matrix representation of the translation transform that operates on4×1 homogeneous vectors is given by:

$\begin{matrix}{{T( {d_{x},d_{y},d_{z}} )} = \begin{bmatrix}1 & 0 & 0 & d_{x} \\0 & 1 & 0 & d_{y} \\0 & 0 & 1 & d_{z} \\0 & 0 & 0 & 1\end{bmatrix}} & (12)\end{matrix}$

The mapping of camera centered coordinates to undistorted screencoordinates (K) can also be expressed as a 4×4 matrix which operates onhomogenous vectors in the camera centered coordinate system. In thisform the mapping from homogeneous camera centered points, X_(c), tohomogeneous screen points, S_(u) is expressed:

$\begin{matrix}{S_{u} = {KX}_{c}} & (13) \\{{w\begin{pmatrix}s_{x} \\s_{y} \\s_{z} \\1\end{pmatrix}} = {KX}_{c}} & (14)\end{matrix}$

To get the actual undistorted screen coordinates from the 4×1 homogenousscreen vector we divide the first three elements of Su by the 4thelement.

Note further that we can express the mapping from homogeneous worldpoints to homogeneous undistorted screen points via matrixmultiplication.

S _(u) =KT _(WTC) X _(w)

=PX _(w)

where,

P=KT _(WTC)  (15)

One embodiment uses a pinhole camera model for the projection transformK. If it is chosen to orient the camera centered coordinate system sothat the x-axis is parallel to the s_(x) screen coordinate axis, and thecamera y-axis is parallel to the s_(y) screen coordinate axis—whichitself goes from the bottom of an image to the top of an image—then Kcan be expressed as:

$\begin{matrix}{{K = \begin{bmatrix}{- \frac{f^{\prime}}{par}} & 0 & u_{0} & 0 \\0 & {- f^{\prime}} & v_{o} & 0 \\0 & 0 & A & B \\0 & 0 & 1 & 0\end{bmatrix}}{{where},}} & (16) \\{{f^{\prime} = \frac{N_{y}/2}{\tan ( {\phi/2} )}}{N_{y} = {{number}\mspace{14mu} {of}\mspace{14mu} {pixels}\mspace{14mu} {in}\mspace{14mu} {vertical}\mspace{14mu} {screen}\mspace{14mu} {direction}}}{\phi = {{vertical}\mspace{14mu} {field}\mspace{14mu} {of}\mspace{14mu} {view}}}{{par} = {{pixel}\mspace{14mu} {aspect}\mspace{14mu} {ratio}}}{u_{o},{v_{o} = {{optical}\mspace{14mu} {center}}}}{A,{B = {{Clipping}\mspace{14mu} {plane}\mspace{14mu} {{parameters}.}}}}} & (17)\end{matrix}$

The clipping plane parameters, A, B, do not affect the projected screenlocation, s_(x), s_(y), of a 3D point. They are used for the details ofrendering graphics and are typically set ahead of time. The number ofvertical pixels, N_(y) and the pixel aspect ratio par are predeterminedby video format used by the camera. The optical center, (u_(o), v_(o))is determined as part of a calibration process. The remaining parameter,the vertical field of view φ, is the parameter that varies dynamically.

The screen width, height and pixel aspect ratio are known constants fora particular video format: for example N_(x)=1920, N_(y)=1080 and par=1for 1080i. The values of u_(o), v_(o) are determined as part of acalibration process. That leaves only the field of view, φ, which needsto be specified before K is known.

The field of view is determined on a frame by frame basis using thefollowing steps:

-   -   use the measured value of the 2× Extender to determine the 2×        Extender state;    -   use the 2× Extender state to select a field of view mapping        curve;    -   Use the measured value of field of view, or equivalently zoom,        and the particular field of view mapping curve determined by the        2× Extender state to compute a value for the nominal field of        view;    -   use the known 2× Extender state, and the computed value of the        nominal field of view in combination with the measured focus        value, to compute a focus expansion factor; and    -   compute the actual field of view by multiplying the nominal        field of view by the focus expansion factor.

One field of view mapping curve is required per possible 2× Extenderstate. The field of view mapping curves are determined ahead of time andare part of a calibration process.

One mapping between measured zoom, focus and 2× Extender and the focusexpansion factor is required per possible 2× Extender state. The focusexpansion factor mappings are determined ahead of time and are part of acalibration process.

The mapping (f) between undistorted screen coordinates to distortedscreen coordinates (pixels) is not (in one embodiment) represented as amatrix. In one example, the model used accounts for radial distortion.The steps to compute the distorted screen coordinates from undistortedscreen coordinates are:

-   -   start with the inhomogenous screen pixels S_(u)=(s_(x),        s_(y))^(T)    -   compute the undistorted radial distance vector from a center of        distortion, s_(o)δr=s_(u)−s_(o).    -   compute a scale factor α=1+k₁∥δr∥+k₂∥δr∥²    -   compute the inhomogeneous screen pixel vector S_(d)=αδr+S_(o)        Some embodiments will also normalize the data.

The two constants k₁, k₂ are termed the distortion coefficients of theradial distortion model. An offline calibration process is used tomeasure the distortion coefficients, k₁, k₂, for a particular type oflens at various 2× Extender states and zoom levels. Then at run time themeasured values of zoom and 2× Extender are used to determine the valuesof k₁ and k₂ to use in the distortion process. If the calibrationprocess is not possible to complete, the default values of k₁=k₂=0 areused and correspond to a camera with no distortion. In this case thedistorted screen coordinates are the same as the undistorted screencoordinates.

The above discussion provides one set of examples for tracking objectsand enhancing video from a mobile camera based on that tracking. Thetechnology for accommodating mobile cameras can also be used inconjunction with other systems for tracking and enhancing video, such asthe systems described in U.S. Pat. No. 5,912,700; U.S. Pat. No.5,862,517; U.S. Pat. No. 5,917,553; U.S. Pat. No. 6,744,403; and U.S.Pat. No. 6,657,584. All five of these listed patents are incorporatedherein by reference in their entirety.

The given technology for converting from 3D coordinates to the 2Dcoordinates of the camera plane (e.g., 121YZ, 122YZ, 13YZ of FIG. 1) canbe used in the inverse form to determine the likely coordinates in the3D world frame 109 based on pixel coordinates of the given camera oncethe camera's frame of reference has been determined as relative to theworld frame 109.

Still referring to FIG. 1, the determined 3D coordinates ofautomatically recognized within-the-video objects (e.g., location of theball 111, location of the player's right elbow, left elbow and so forth)are fed to an automated 3D skeleton generator 140. In the case of thethree high speed cameras, 121-123, the kept video portions from allthree of them are fed to the 3D skeleton generator 140. If there weremore high speed cameras, their respective outputs (whether in the raw orpreferably already converted into 3D world coordinates within therespective event store blocks; e.g., 131-133) are also fed to the 3Dskeleton generator 140.

Here, the 3D skeleton generator 140 will be receiving different witnessaccounts (so to speak) from the differently positioned witnesses (a.k.a.cameras 121-123) as to where specific ones of tracked objects wereallegedly located at respectively alleged times. (The timings arealleged rather than precise because the cameras 121-123 are operating asfree-running (not all genlocked) and thus at least semi-asynchronouslyrelative to one another and the image frame of one camera; e.g., 121generally does not match in either timings of its respective pixels orpoint of view (POV) with that of another of the cameras; e.g., 122 or123. The job of the 3D skeleton generator 140 is to develop from thediscrete allegations (a.k.a. snapshot like scanned reports or scan-wisecaptured frames) from plural witnessing devices (not limited to just thecameras 121-123, could also include smart bracelets worn by the player)a coherent and physics-wise smoothed story of where each tracked object(the ball 111, the player's right elbow 153, left elbow 156, right knee163, left knee 168, etc.) was at each instant of the so-called, realworld time line Tw. This can be done with the physics-based motionequations given above. The witness-alleged trajectories of each followedobject are melded together into a single mathematical functiondescribing the more likely behavior of the real world object in terms ofworld coordinates (109). Where witness accounts differ or one witnessdid not see (for example because one of the pitcher's hands was obscuredby an intervening object), the accounts of the more likely to bereliable witnesses (e.g., the camera with the best view) is givenweighted preference.

More specifically and considering ankle joint 162 as an example of atracked object, kept footages from each of the high speed cameras121-123 that can see the real player's (110's) ankle area will beprocessed using an automated ankle joint recognition and locatingmachine process. For example, the location of the ankle joint may beguessed at using markers on the pitcher's exposed sock and/or using aknown spatial relationship between the back bottom of the pitcher's shoeand where his ankle should be. The ankle joint recognition and locatingmachine process applied to the respectively kept footage of the each ofthe high speed cameras 121-123 for a given pitching event will producediscrete sample points 162 s (each depicted as a square in FIG. 1)distributed time wise and three-dimensional space-wise about what willultimately become the finalized 3D trajectory 162 f assigned to thetracked ankle joint 162 where that finalized 3D trajectory 162 f is acontinuous and smooth mathematical expression depicting the 3D positionof the ankle joint 162 over a continuous interval of time (t). Leastsquare curve fitting and/or other best fit curve determining techniquesmay be used to arrive at the ultimately produced continuous and smooth3D trajectory 162 f.

During this process, as the final time line for each developedmathematical motion description (e.g., 162 f) is worked out, theidentities of the time-wise closest witness accounts (162 s) arerecorded in a database as correlating to a time interval that appliesalong the developed final time line and trajectory 162 f For example,for the time range of 1.500 seconds to 1.501 into the finalized timeline of Event 3 of Game 2, and for the pitchers back ankle, thecorrelated sample frames 162 s may be, in the case of camera 121 itsFrames 200 and 201, for camera 121 its frame number 256 (recall that thecameras are not precisely synchronized) and for camera 123 its framenumbers 221, 222 and 223 (these numbers being hypothetical). Afterwards,when an analyst receives and reviews the in motion, skeletal model 150and respective smooth trajectories (e.g., 162 f) for each followed bodypart, where the analyst nonetheless wants to review the original camerafootages (e.g., of cameras 121-123), the analyst can specify a portionof the finalized time line (e.g., of trajectory 162 f) and the systemwill automatically return to the analyst the corresponding frame numbersof the respective high speed cameras that were used to arrive at thatmodel trajectory (e.g., 162 f). Thus the analyst can refer back to theoriginal data (e.g., 162 s) to determine if the automated 3D skeletongenerator 140 produced a believable 3D skeletal model 150 and/or theanalyst can refer back to the original kept footage to determine whatextrinsic effects may have been in play at the moment. Was the windblowing at a certain speed and direction so as to throw the pitcher offhis usual game? Was the background crowd jeering the pitcher? Was itdrizzling? The skeletal model alone (150) may not always tell the fullstory.

Signal coupling line 171 of FIG. 1 represents the storing into anappropriate database (e.g., DB 170) of the developed body parttrajectories (e.g., 162 f) of each of pre-specified body parts. In oneembodiment, for each pitcher these may include: (1) the pitcher's heade.g., 155; (2) his throwing shoulder (which would be the left one if aleft-handed pitcher); (3) his throwing elbow e.g., 153; (4) hisnon-throwing shoulder; (5) his non-throwing elbow e.g., 156; (6) histhrowing hand (the one pitching the ball) e.g., 151; (7) hisnon-throwing hand (the one that is gloved) e.g., 157; (8) a marker e.g.,154 on his torso which could a marker on the upper part of his uniformor his belt buckle or a marker on the backside of his belt; (9) the kneee.g., 163 of his trailing leg; (10) the knee e.g., 168 of his forwardleg; (11) the ankle e.g., 162 of his trailing leg; (12) the ankle e.g.,166 of his forward leg; (13) the toe e.g., 161 of his trailing leg; and(14) the toe e.g., 167 of his forward leg. The trajectory of the pitchedball itself 152 may be followed while it is in camera view. Additionalparts of the pitcher's body that are tracked may include his left andright pelvic joints 164. Yet other objects may be included, for examplebut not limited to, parts of his uniform and/or worn smart or dumbbracelets, his cap, specific parts of his glove and so forth. Variousitems worn by the in-the-field and tracked sports participant mayfunction as biometric telemetry devices configured for measuringrespective biometric parameters and wirelessly relaying the same to abiometric data receiver that then relays its collected data to thedatabase (e.g., via connection 173). The relayed biometric parametersmay include time stamped measurements of player heart rate, breathingrate, temperature, blood pressure, galvanic skin response (indicatingdegree of sweating), muscle tension, and so forth.

In addition to the stored 3D model trajectories 171, the may be storedin the database 170 a list of calculated inflection points for eachtrajectory (e.g., 162 f) and/or for derivatives thereof (e.g., dz/dt for3D curve 162 f), for example one indicating when and where the pitcher'sthrowing hand 151 was at its highest and another indicating when andwhere the pitcher's throwing hand 151 was moving at its fastest (maxdx/dt) relative to a picked line of direction. In this way the database170 can later be automatically mined by queries searching for this kindof specific information. As mentioned, digitized versions 175 of thekept video footages are stored and logically linked to the respectivetrajectories (e.g., 162 f). Data 172 regarding various field effectssuch as sounds, wind gusts, drizzles, bright sun and so forth arefurther recorded in the DB 170 as being logically linked to the storedtrajectories (e.g., 162 f) of the respective play action event (e.g.,pitching event number 3 of game 2). The recorded field effects data isnot limited to physical effects and may alternatively or additionallyinclude mental effects that may sway a pitcher or batter, such what thecurrent score is at the time of the play action event, whether the basesare loaded, whether there is a full count; whether the batter/hitter isleft-handed rather than right handed; whether an on-base runner isthreatening to steal; and so forth. Various event statistics 174associated with the respective play action event are also stored andlogically linked to the stored trajectories, for example, what was theidentity of the pitcher 110, of the batter, of the catcher, of the homeplate umpire, of the third base coach? What was the maximum speed of thepitched ball as measured by the in-the-field radar device 120? What wasthe outcome of the pitch, e.g., a strike, a ball, a hit, a grand slam?Moreover, the ruler-based biometrics and other biometrics 173 of theplayer are logically linked to the stored trajectories (e.g., 162 f) forsake of being able to later determine if there is a correlation for thetracked player as between, for example, respiration rate (breathing) andpitch outcome.

While FIG. 1 depicts a baseball pitcher 110 who normally (routinely)hovers about a pre-registered pitcher's mound 107, the techniquesdescribed herein can be similarly applied to other in-the-field sportsparticipants who normally or at specific times hover about register-ablefield locales such as, but not limited to, a baseball batter at homeplate, a baseball catcher behind home plate, an on-deck next batter whois practicing his swing in the on-deck circle, a soccer goal keeper inhis goal area, a hockey goal keeper, a basketball player while shootinga foul shot at a registered foul line area or from a favorite 3-pointshooting spot, a tennis player while at a ball serving area, a golferwhile at a tee-off position and so forth. In one embodiment, and for thecase of the baseball batter at home plate, the tracked body parts mayinclude: (1) the batter's head; (2) the top end of his held bat; (3) thebottom (hand held) end of his bat; (4) his forward shoulder (which wouldbe the left one if a right-handed batter); (5) his back shoulder; (6)hip of his forward leg (which would be the left one if a right-handedbatter); (7) hip of his back leg; (8) the knee of his forward leg; (9)the knee his trailing leg; (10) the ankle of his trailing leg; (11) theankle of his forward leg; (12) the toe of his trailing leg; and (13) thetoe of his forward leg. The trajectory of the pitched ball itself (111)may be followed while it is in camera view. If both the baseball pitcherand batter are being tracked with high speed cameras (e.g., 121-123)then each such in-the-field and tracked sports participant is assigned arespective set of cameras dedicated to focusing on the normal hoveringlocale of that player. For example, there would be a total of at leastsix high speed cameras operating if both the baseball pitcher and batterare being tracked. In one embodiment, the first base dugout is equippedwith two such cameras, one pointing at the pitcher, the other at thebatter. Similarly the third base dugout is equipped with two suchcameras respectively pointing at the pitcher and the batter. And a highspot behind home plate is additionally equipped with two such camerasrespectively pointing at the pitcher and the batter. Of course these aremerely exemplary positionings of the plural, high speed cameras (e.g.,121-123) and in other embodiments the respective cameras may bepositioned higher above the ground level of the playing field so as togain a downward looking perspective. As the case with the pitcher,additional parts of the batter's may be tracked as deemed appropriate bythe analysts who plan to study that player's in-the-field biomechanics.Tracking markers (e.g., visual and/or electronic transponders) may bepositioned about the batter's body; for example, on different parts ofhis uniform (including on or in the shoes) and/or on worn smart or dumbbracelets, his batting helmet, in his batting gloves and so forth.Biometric telemetry devices may be embedded in various items worn by thebatter.

Referring to the perspective view of FIG. 2, the 3D moving models 210 ofthe respective in-the-field sports participants need not be merely,skeleton alone models such as shown at 150 of FIG. 1. Instead additionalbody parts may be included for better modeling of the actual player.More specifically, while the ruler-based biometrics of each identifiedplayer's skeletal parts are retained (e.g., length of bone L( ) betweenleft shoulder 258 and left elbow 256), the model 210 is augmented withdata indicating the muscle mass present about each jointed bone so thatobserved acceleration (a_(xyz)) of the part may be combined with themeasured mass (m) about the part to determine the respective forces(F_(xyz)=m*a_(xyz)) being exerted by the in-the-field sports participantduring a play action event. Various pre-game techniques (e.g.,ultrasonic tissue density imaging) may be used just prior to each gamefor measuring, for example, the latest mass of the baseball pitcher'sright hand above his wrist joints (Mass-RH), the amount muscle in hisright forearm (Mass-RFA), the amount muscle in his right bicep area(Mass-RBicep) and so forth. These are stored as part of the in-the-gamebiometrics of the respective player 210. One utility of the force versusmass versus acceleration plots obtainable from the generated moving 3Dmodel is to understand the interplay between weight training in thegymnasium for example and the positive or negative effects that may haveon the baseball pitcher's ability to throw a faster pitch. On the onehand, extra muscle mass say in the right forearm (Mass-RFA) may work toreduce acceleration (because a=F/m). On the other hand, havingadditional muscle mass of the right kind (smooth versus striated) in theright bicep area (Mass-RBicep) may help increase the force applied tothe right elbow (Relbow) and thus increase the throwing velocity (wherev_(xyz) is the integral over time of the 3D acceleration vectors,a_(xyz)). Data collected from actual in-the-field sports events may helpshed light on what combinations of reduced and increased muscle massesfor each specific player and in each specific body part may have apositive or negative influence on in-the-field performance. The player'straining coaches may use this information to better advise the player onhow to train his muscles in between games.

FIG. 2 also depicts a modeled object path 262 f as seen within the worldreference frame (Xw, Yw, Zw). The modeled object path 262 f may be usedto determine for example, what heights and/or rotations the tracked bodypart (e.g., the right ankle) attains during the play action event (e.g.,the pitching of the baseball). More specifically, the object path 262 fmay be expressed using a world coordinate system which in this exampleis a Cartesian coordinate system having an origin at home plate (105 inFIG. 1) and an Xw axis extending from home plate to the pitcher'spreregistered mound 107. Displacement along the Xw axis and over arespective time interval (t₂−t₁) therefore represents an averagevelocity employed by the displaced object (e.g., a pitcher's body part,for example his right hand) and useful for accelerating the ball (111)toward home plate. The Zw axis represents a height of the objectrelative to the top surface plane of home plate and therefore mayindicate, e.g., the height of the baseball, above the ground as itspeeds toward the strike zone. The Yw axis represents a lateraldisplacement position of the object away from the Xw axis (the straightline path toward home plate). Displacement along the Yw and Zw axes andover a respective time interval (t₂−t₁) may therefore representcurvature effects imparted to the pitched ball as it speeds toward thestrike zone above home plate. Other coordinate systems can also be usedsuch as polar, spherical or other non-orthogonal coordinate systems. Asmentioned, the high speed motion capture cameras (e.g., 121-123) arefree running and use their internal frame-rate clocks for determiningrespective image capture rates. Thus, the cameras asynchronously (orsemi-asynchronously in the case of time sync code annotated frames)capture respective and discrete snapshot images of the tracked object asit moves in time along its smooth motion path 262 f, where therespective camera frames (and/or their included image scan lines) coverdifferent points in time during a time interval in which the tackedobject is moving. For example camera 1A (aimed at the pitcher) maycapture some of the discrete snapshot images (depicted in FIG. 2 as 262s) at respective time points such as, t_(A0), t_(A1), t_(A2), . . . ,t_(A11), which may be mapped to positional points along smooth motionpath 262 f (where “t_(A0), . . . , t_(A11)” are not all shown) whilecamera 1B (also aimed at the pitcher) may capture some of the discretesnapshot images (depicted in FIG. 2 as 262 s) at respective time pointssuch as, t_(B0), t_(B1), t_(B2), . . . , t_(B10) which may be separatelymapped to positional points along smooth motion path 262 f (where“t_(B0), . . . , t_(B10)” are not all shown). Note that it is notnecessary for each camera to capture its images at a fixed rate, or forthe different cameras to capture images at the same rate and at exactlysame time points. The example shown is meant to depict that aphysics-based, smooth motion 3D curve 262 f is fitted with curve fitoptimization techniques relative to the witnessing accounts given by therespective high speed cameras (121-123) where the witnessing accountsgiven by a subset of the cameras may be given greater weight than thoseof one or more of the other cameras due to closeness and/or better pointof view (POV).

Once a plurality of games and play action events for respective players(e.g., baseball pitchers and batters) are stored in the database 170,various database queries may be submitted and results analyzed todetermine for example: whether consistency in landing position of thepitcher's plant foot impact his performance; which pitcher arm slots andinitial shoulder positions lead to sharper movement on pitches; whethera given pitcher's elbow drops as he tires during the course of a game;whether certain trends in a given pitcher's repetitive motions arelikely to lead to serious long term injuries; whether certain initialstances for a given pitcher's delivery start correlate to better orworse performance than other initial stances; whether certain foot plantpositions and orientations for a given pitcher's delivery correlate tobetter or worse performance than other foot plants; whether certainmaximum heights of back leg lift correlate to better or worseperformance; whether certain points of hand/ball separation correlate tobetter or worse performance; whether certain extents of maximumbackswing correlate to better or worse performance; and whether certainfollow throughs (e.g., back foot touch down positions and orientations)correlate to better or worse performance than other follow throughs.Similarly for baseball batters, various database queries may besubmitted and results analyzed to determine for example: whether certainbatter stances at the start of the pitcher's delivery correlate tobetter or worse performance by the batter; whether certain bat motionpaths correlate to better or worse performance; whether certain bat toball contact zones correlate to better or worse performance; whethercertain batting follow through motions correlate to better or worseperformance; how long on average does it take for the batter to starthis swing; how often does the batter hit the sweet spot of his bat; whatfactors correlate to the batter starting his swing too early or toolate; if the batter misses the pitched ball, how much does he miss by;and how often is the batter fooled into swinging at bad balls.

FIG. 3 depicts a flow chart of a process 300 for generating a 3D movingplayer model such as 150 of FIG. 1 or 210 of FIG. 2.

Step 310 includes the pre-game setting up of the high speed trackingcameras (e.g., 121-123) at respective locations that give them differentpoints of view (POV's) toward their intended player hovering area (e.g.,the pitcher's mound) in a manner that reduces likelihood that, at anytime, all cameras will be obstructed from seeing any of thepredetermined and to be tracked body parts of the in-the-field sportsparticipant (e.g., the pitcher's arms, legs and head). Step 315 includesthe pre-game establishing of registered points of reference about theintended player hovering area (e.g., the pitcher's mound); for exampleby planting predetermined fiducial objects about that area, such that arelatively accurate mapping is enabled between the 2D image captureplane of each camera when the camera is in one or more pre-registeredorientations and a predetermined 3D “world” reference frame (e.g., 109of FIG. 1).

Step 320 includes a generating of a unique ID label for labeling a soonto be recorded, kept and respective segment of footage for each highspeed tracking camera (e.g., 121-123), where for example the unique IDmay be a hash of the current date, current time and current location(e.g., arena ID) such that the kept and respective segments of footagefor the to be tracked play action event (e.g., the pitch) of therespective and (semi-) asynchronously operating cameras may be logicallylinked to one another at least by way of the unique ID label. At a latertime the unique ID label can be mapped into corresponding dataidentifying the team's season number, game number, pitching eventnumber, pitcher ID, batter ID and so forth. At each of the high speedtracking cameras (e.g., 121-123), the unique ID label is combined withcorresponding camera ID and camera orientation data where the combineddata is to be logically linked to the soon to be recorded, kept andrespective segment of footage.

At step 322 it is automatically determined that the expected play actionevent (e.g., next pitch) has begun (has been entered into). Any one ormore of different ways to detect entry into the play action event can beused. FIG. 1 shows one example where an in-the-field radar gun 120detects a pitched ball speeding towards home plate and outputs aresponsive TRIG signal 120 b. Other methods for detecting entry into aplay action event can alternatively or additionally include using avideo camera trained on an area of interest and/or any other opticalsensors for detecting change of scenery or occurrence of pre-specifiedmovement within the scenery; having a human being hit an event-startedbutton or the like; using sensor beams such as IR beams and/orelectromagnetic fields and/or acoustic fields of appropriate frequencies(e.g., ultrasonic motion detection) to detect pre-specified movementand/or crossings of pre-specified boundaries, markers within apredetermined scenery area; using LIDAR; using accelerometers and/orother location and/or velocity/acceleration detecting means fordetecting pre-specified movements and/or crossings of pre-specifiedboundaries, markers within a predetermined scenery area; and so on. Therespective event storage units (131-133) of each of the respective highspeed tracking cameras (e.g., 121-123) have already been recordingreceived camera imagery, but not with the plan of storing all of it on along term basis. This is merely buffered storage. When the TRIG signal120 b is received, it signals to each event storage unit to discard theportion of the buffered imagery that was received more than a firstpredetermined duration before the receipt of the TRIG signal 120 b andto continue recording and keeping a remainder of the footage segmentthat ends at a second predetermined duration after the receipt of theTRIG signal 120 b. After they are recorded, the combined first andsecond durations of the kept footage may be compressed (in step 324),for example with use of MPEG4 technology. The combined first and seconddurations are moreover logically linked to the generated combination ofunique event ID label and corresponding camera ID and camera orientationdata so that it (the kept footage) can be later individually recalled byusing the unique event ID label.

The same radar gun generated TRIG signal 120 b can be used fordetermining the durations of to be kept footage segments for tracking abatter at home plate 105 except that the start and stop time points ofthe batter footage segments can be slightly different and also the highspeed tracking cameras used for the batter will be three or more others(not shown) rather than cameras 121-123, where those other three or morehigh speed tracking cameras (not shown) will be trained on andpre-registered to fiducials place about home plate rather than about thepitcher's mound 107. It is within the contemplation of the presentdisclosure to alternatively or additionally use other automated devicesbesides the pitched ball radar gun for automatically determining that aplay action event (e.g., a ball pitch) has been entered into or has justcompleted and that a corresponding TRIG signal is to be output. Forexample, each baseball pitcher may be required to wear an accelerationsensing band on his throwing arm which wirelessly reports armacceleration to a wireless receiver and the latter outputs the TRIGsignal when acceleration exceeds a predetermined threshold.Alternatively or additionally, one of normal speed video cameras at thearena (e.g., camera 124) may be trained on the pitcher 110 and may beoperatively coupled to pitch recognition software where the latteroutputs the TRIG signal when the pitch recognition software recognizesthat a pitch event has commenced. Alternatively or additionally, thecatcher's mitten may be outfitted with a wireless ball impact detectorand the latter automatically reports that a pitch event has just endedwhen detected impact exceeds a predetermined threshold. Accordingly thegeneration of the TRIG signal 120 b need not be dependent on thepresence of a working pitch speed determining radar gun 120 and variousalternative devices may be used where, in one embodiment, eachalternative device provides a TRIG signaler identification with itsoutput TRIG signal 120 b and the player tracking system 100 usesdifferent to-be-kept footage begin and end specifiers depending on thereceived identification of the TRIG signaler.

At step 326 the compressed and to be kept footage segments (175 inFIG. 1) of each of the high speed tracking cameras (e.g., 121-123) aretransferred from the respective buffering event storage units (131-133)together with their ID data to the database. Associated field effectsdata 172 and non-ruler biometrics (e.g., player heart rate) 173 are alsoat this time stored in the database 170 and logically linked to theunique event ID label. The event statistics data 174, 3D skeletal movingmodels 171 and ruler-based biometrics (e.g., player weight, dimensions)may be added to the database 170 at a later time and also logicallylinked to the unique event ID label.

FIG. 1 depicts the kept event footages of all the high speed trackingcameras (e.g., 121-123) being fed in real time into the 3D skeletalmodel(s) generator 140. This is depicted as such for more simplyconveying the concept. As a practical matter, the 3D skeletal model(s)150/210 are preferably generated at a later time; perhaps during playaction breaks (e.g., TV commercial breaks) or perhaps at a differentlocation and overnight. The more accurate and more sophisticated 3Dskeletal model(s) 150/210 may take a substantial amount of time togenerate, whereas it may be possible to generate low resolution crudemodels at the location of the game and before the game ends for use bygame announcers.

At step 328 the compressed and kept footage segments (175 in FIG. 1) ofan identified play action event (e.g., the pitch) involving anidentified player are retrieved and decompressed.

Next, at step 330 the retrieved footages are applied together withretrieved ruler based biometrics of the identified player to a 3D movingmodel creator (e.g., 140 of FIG. 1). Here, body part recognition isinitiated separately for each to be focused-upon body part (e.g., thepitcher's trailing ankle). The in-camera-plane coordinates of thefocused-upon body part are automatically determined. Then (step 332) forthe corresponding frames of each of the high speed tracking cameras(e.g., 121-123), the in-camera-plane coordinates of the focused-uponbody part are automatically converted to 3D world coordinates (using thetransformation techniques discussed above).

At step 324 the frames (e.g., 262 s of FIG. 2) of the different highspeed tracking cameras (e.g., 121-123) are intertwined with one anotherin accordance with progressive, nearest neighbor ones of the mapped 3Dworld coordinates of the focused-upon body part (e.g., the pitcher'strailing ankle). However, in the case where the frame-to-frame temporalspacings of successive frames of a same camera are known to a highdegree of precision, the known frame-to-frame temporal spacings are notmodified. Instead the only temporal spacings between the frame sets ofdifferent cameras is made a variable. The intertwining according tonearest neighbor, initial 3D world coordinates is so done becausephysical inertia dictates that the position of the focused-upon bodypart cannot change in a non-smooth discontinuous manner for a nonzeromass that is being propelled by a finite force. So nearest neighbor onesof the mapped 3D world coordinate points should appear as progressive intime, one after the next. The specific smooth motion curve (e.g., 262 fof FIG. 2, 162 f of FIG. 1) of the focused-upon body part (e.g., ankle)has not yet been finalized at this stage and instead is an initialestimations of what will shake out to be the finalized smooth motioncurve. In other words, a first estimated at best fit, curve fittingalgorithm is employed to crudely dispose a first round, smooth motioncurve (e.g., 262 f of FIG. 2) adjacent to the intertwined in time andspace 3D world coordinate points for the moving body part (e.g., ankle).A more accurate smooth motion curve is developed when adherence to bothframe to frame spacings for plural body parts and adherence to biometricruler rules are applied after, for example, the first round motion curvefor the knee is also generated, where under the biometric ruler rules,the first body part (e.g., ankle) must always be a fixed 3D distanceaway from the second body part (e.g., knee) because the size of thelinking bone does not change. As biometric ruler rules and physicalinertia rules are automatically repeatedly applied to interlinked partsof the initial skeletal model, the respective body part motion curves(e.g., 262 f of FIG. 2) shake out to converge into their finalized formsand the timings of respective spatial points along the developed bodypart motion curves (e.g., t_(A1), t_(B2)) are resolved. At the same timethe nearest neighbor camera frames for corresponding ones of therespective spatial points along the developed body part motion curvesare also determined. As already explained above, in the case of theembodiment of FIG. 2 and of the applied physical inertia rules, themeasured masses of the respective body parts are included in the processof converging the respective body part motion curves into theirfinalized forms (step 336). The finalized body part motion curves arestored as expressed mathematical relationships in the database (step338).

At step 340 it is automatically determined if the game is over. Forexample, this may be automatically tested for by pinging the game radargun 120 and if it does not respond for more than a predeterminedduration, it is concluded that it has been turned off and the game isover. Alternatively or additionally, other automated devices that arenormally turned on during the game and turned off at the end of the gamemay be queried. Alternatively or additionally, a local technician maymanually indicate to the executing process 300 that the game is over andthen the process stops. On the other hand, if the game is not over,control is passed to step 320 where the ID label for the next expectedpitch event is obtained for use with steps 322-338.

Referring to FIG. 4, a machine-implemented process 400 for using thedata stored in the database 170 is disclosed. At step 410, a manually orautomatically generated, database query (e.g., in SQL format) issubmitted to the database 170 after the results of one or more gameshave been stored in the database and where the query seeks results(e.g., answers, search hits) that depend at least in part on thedeployment of the high speed player tracking cameras (e.g., 121-123)that were used in the corresponding one or more games. The query may bedirected to a single identified player (e.g., one specific baseballpitcher or batter) or it may be directed to a specified set of same typeplayers (e.g., all left handed pitchers on my team). Examples of thekinds of queries that might be submitted have been implied at in theabove. For example, one such query may seek results for the question:For just the right-handed pitchers on my team and for Games 1-5 ofSeason 3, how often did right elbow speed in the Xw direction exceed 50MPH (miles per hour)? When the results come back, the query submittermay ask the database: Show me the corresponding high speed trackingcamera kept-footage for Game 2 of Season 3 where right-handed pitcher Xhad a right elbow speed of 55 MPH or higher. Since the database 170stores mathematical expressions of the motion curves (e.g., 262 f) ofthe respective different and focused-upon body parts (e.g., right elbow,left elbow, trailing ankle, etc.), those stored mathematical expressionscan be quickly mathematically processed to obtain answers related forexample to velocity and acceleration by automatically obtaining firstand second order derivatives relative to time (e.g., dx/dt, dy/dt,dz/dt) for respective parts of the kept 3D motion description curves.Alternatively or additionally, some mathematical processing results(e.g., Max(dx/dt), Min(dx/dt)) may be pre-calculated and already storedin the database so that more frequently submitted queries (FAQ's) can beanswered more quickly. It is within the contemplation of the presentdisclosure to alternatively or additionally store the skeletal modelmotions (e.g., 262 f) and/or velocities, accelerations and/or otherperformance-related attributes derived therefrom as graphed curvesand/or in the form of sample points stored in respective tables. Sincethe database 170 also stores logical linkages between the kept highspeed footages and corresponding points on each motion curve (e.g., 262f), once one or more points on a motion curve are identified assatisfying the database query, the corresponding one or more footagesfrom the respective cameras can be automatically fetched for review andanalysis. One of the optional analysis possibilities is to build a newskeleto-muscular model of the player from the same footage but whileusing a different model building process and comparing the newskeleto-muscular model against the one previously used to see which onegives more accurate results for specific kinds of queries.

Referring to step 415 of FIG. 4, the utilized queries of step 410 can berepeatedly used ones (pre-canned queries) or newly created ones wherethe goal is to identify one or more aspects of one or more tracked bodypart motions where the identified aspects appear to correlate to eitherimproved in-the-field performance (e.g., more strike outs for thepitcher, more hits for the batter) or worse in-the-field performance(e.g., more balls for the pitcher, more strike outs for the batter). Theidentified aspects may vary and may include, but are not limited to: (1)a determined maximum or minimum height of a player's first and/or secondelbow (and/or of other tracked body part(s)) that correlates with betteror worse outcomes (the outcomes being stored in the database as eventstatistics 174 of FIG. 1 and being logically linked to respective playaction events); (2) a determined maximum or minimum velocity in aspecific direction (e.g., Xw, Yw, Zw) of an identified body part thatcorrelates with better or worse outcomes; (3) a determined maximum orminimum acceleration in a specific direction of an identified body partthat correlates with better or worse outcomes; (4) a determined averageof one or more of body part height, velocity and velocity thatcorrelates with better or worse outcomes; (5) a determined statisticalvariance over a series of play actions in one or more of body partheight, velocity and velocity that correlates with better or worseoutcomes; and (6) a determined combination of maximums, minimums,averages, statistical variances and statistical distribution skews thatappear to correlates with better or worse outcomes. Step 415 may becomprised of a collection of trial and error repeats of step 410 andautomatically repeated testing for which query results best correlatewith the a specific kind of good or bad game outcome that is beingqueried for.

Referring to step 420 of FIG. 4, once specific correlations have beenidentified in step 415, the team players and/or coaches are advised ofthe results and they use the results to modify how one or more of theplayers practices in between games and/or exercises in the gymnasiumand/or eats or takes medications and/or relates to psychological therapysessions so as to try to find a new paradigm that leads to improvedperformance. More specifically, and merely as an example, it may bediscovered that an increase in muscle mass in a pitcher's throwingforearm (e.g., Muscle RFA of FIG. 2) has led to worsened performancebecause that added mass is reducing the forward acceleration(a_(x)=F_(x)/m) that the pitcher is imparting to the pitched ball. Thatpitcher's exercise regimen may then be modified to reduce muscle mass inthe forearm while increasing it in the biceps area. What is good for oneplayer may not however, be good for another. For example, one specificpitcher may heavily rely on muscles in his forearm to throw good curveballs. For that second player, reducing forearm muscle mass may lead toworse performance rather than better performance. Accordingly,in-the-field sports performance models are preferably built on anindividualized, player by player basis because every player is differentand the behavior modification suggestions produced by step 420 will tendto be different for each unique player.

Referring to step 425, after the behavior modification suggestions aredeployed in step 420, verification of the expected results is test forin step 425. This involves playing the respective player or playerswhose training regimens have been changed in additional in-the-fieldlive sports events and recording their, hopefully improved, performancesusing the process 300 of FIG. 3. Then the modeled results before andafter the deployed behavior modifications are compared to see if therewas improvement. If not, an analysis is undertaken to find betterqueries for step 410 that will lead to improvement of positive aspectsof each player's performance and/or will lead to reduction of negativeaspects of each player's performance.

Referring to FIG. 5, shown is one system set up 500 employing 6 highspeed tracking cameras (e.g., 521-523, 524-526) and two event storageservers, 531 and 532 as well as a local monitoring laptop 535 connectedto the servers. The first server computer 531 receives respectivefootage feeds from the high speed tracking cameras 521-523 that arepointed to the pitcher's mound 507′. The second server computer 532receives respective footage feeds from the high speed tracking cameras524-526 that are pointed to home plate 505. In one embodiment, each ofthe 6 high speed tracking cameras, 521-523, 524-526 operates at 240Frames per second (240 F/s) and has a 1280 by 780 image capture plate.So the raw footage receipt rate of each server is 3×(240×1280×780) orabout 720 Megabytes per second (or about 5.8 Gigabits per second). Inone embodiment, the cameras run freely and are connected by way of CAT 6cables to a so-called, time-code synch and multiplexor box 530 whichadds time synch codes to the generated video signals where after thetime-coded video is multiplexed and transmitted to the servers by way offurther CAT 6 cables. The pitch-just-started and/or the pitch-just-endedsignal(s) is/are fed to the event storage servers, 531-532 from anappropriate detector device such as the game's ball-speed measuringradar gun (not shown). In response each server determines the start andend points of the recently received footage that is to be kept. The keptfootage is compressed (e.g., into MPEG4 format) and logically linkedwith the assigned play action ID label. The compressed and labeledfootages are then relayed via a local TV news truck 580 (e.g., via amicrowave antenna mounted on the truck) to an external facility forfurther processing (e.g., decompression and skeletal model creation).The laptop is used by a local technician (not shown) to verify that theservers appear to be capturing the correct footage segments and that thecontrast appears to be sufficient for bodypart recognition. Morespecifically, the local technician can call for replay on his screen,the more recently kept footage streams of the pitcher's play action andthe batter's play action. If for some reason the servers are notcropping the footage at the appropriate start and end points, thetechnician can make manual adjustments to the software that determineswhere the start and end points of the kept segments of footage are to bepositioned. Additionally, if the locally inspected footage appears tohave foreground versus background contrast problems such that the bodyparts recognition software at the external facility may not be able todistinguish between player outline and the background scenery at thatspecific sports venue, the technician may take corrective actions suchas trying to use different spectral and/or light polarizing filters infront of the camera lens and/or adjusting other variable parameters ofthe cameras.

Although not explicitly shown, it is to be understood that the utilizedservers (e.g., 531-532) and local control laptop 535 may each be aself-contained data processing machine having an appropriate datastorage device operatively coupled within or to it as a magnetic harddisk or portable storage media (e.g., flash memory storage) and havingappropriate network interface circuits for communicating with othercomputer systems, as well as one or more data processor units configuredfor executing software instructions, and a working memory such as RAMfor storing the software instructions for example after they areinloaded or downloaded from a nonvolatile storage device. Additionally,the servers will have appropriate camera interfaces for receiving rawfootage from the high speed tracking cameras 521-526. The laptop 535will have an appropriate user interface and display allowing the localtechnician to perform his duties. Storage devices mentioned herein maybe considered to be processor readable storage devices having processorreadable and/or executable codes embodied thereon for programmingcorresponding data processors and enabling them to perform methods thatprovide the various functionalities discussed herein. The user interfacedisplay of mobile device 535 can provide human-usable information to itshuman operator (e.g., the technician) based on the data received fromthe cameras via the server interfaces. The user interface display canuse any of known display and surface interface schemes, whethergraphical, tabular or the like. In addition to an on-screen display, anoutput such as a hard copy from printer can be provided to reportresults. Results can also be reported by storing the solved coefficientsof mathematical motion describing expressions in the local storagedevices (e.g., within the servers and/or laptop) or other memory, e.g.,for later use where the solved and store coefficients may be locallygenerated and/or remotely generated and then fed back (e.g., via the TVnetwork truck 580) to the local sports facility. For example, the solvedcoefficients may be used by local sports announcers to discuss recentperformance parameters of players that are being tracked in real time.

The high speed tracking cameras (e.g., 521-526) may each includeextrinsic parameter sensors and/or intrinsic parameter sensors. Suchparameter sensors can identify respective orientations of their cameras,such as a pan and tilt of the camera. The parameter sensors may alsoidentify the camera zoom setting, whether an expander is used and soforth. Note that sensors may not be needed when the parameter of concernis not changing. Each camera communicates its captured image data,whether in analog and/or digital form to the respective serverinterfaces. Additionally, each camera may communicate data from itsextrinsic parameter sensors and/or intrinsic parameter sensors to theservers via the camera interfaces.

Referring to FIG. 6, additional details of one embodiment 600 inaccordance with the present disclosure are depicted. A representativetwo, 522′ and 525′ of the plural pairs of high speed tracking camerasthat are pointed at respective player hovering areas (e.g., 507′ and505′) are shown. As mentioned above, it is within the contemplation ofthe present disclosure to have more than three high speed trackingcameras per player and located in a variety of other positions than theexemplary ones mentioned above (e.g., first and third base dugouts orabove those positions). The high speed tracking cameras need not befixed in position. For example, in an American football game, movablecameras can be suspended on high wires over the field of play andpre-registration for such cameras may have been carried out for thecenters of length and left and right ends of major yardage lines (e.g.,the 10 yard lines at both ends, the 20 yard lines, the goal lines atboth ends and the 50 yard line).

Analog or digital camera feeds are transmitted to one or more respectivefootage keep/discard decision units such as 630. The respective footagekeep/discard decision units (e.g., 630) each receive at least onerespective play action trigger signal 620 for the then focused-uponin-the-field sports participant being tracked by the correspondinginitial camera footage. The play action trigger signal 620 indicates atleast one of when the respective play action was entered into (e.g.,begun) by the respective player or when it had just ended. That playaction trigger signal 620 and predetermined parameters respecting whatportion of the initial camera footage of each camera is to be kept andwhat discarded, is used to automatically determine what segment(s) ofthe initial footage are to be kept for use in generating a correspondingmotions-tracking model for the focused-upon player. If not yetdigitized, the kept segment(s) are digitized and optionally filtered forimproved contrast in the respective footage keep/discard decision unitssuch as 630. The digitized, kept footage (675) is stored in database 670and assigned a play action identification label. The footage (675)stored into the database may additionally be compressed to reducestorage footprint. At the same time or at a later time, the digitized,kept footage (675) is submitted to one or more automated body partrecognition units such as 640 where the latter are configured torecognize within the submitted 2D footage, a corresponding one or morebody parts of the focused upon player (e.g., pitcher, batter, footballplacekicker, etc.).

Next in a 2D to 3D mapping unit 650, the recognized 2D positions ofbeing tracked body parts of the respective focused-upon player areconverted into 3D coordinate points based on the pre-registration of therespective high speed tracking cameras to corresponding player hoveringareas (e.g., the pitcher's mound 507′, home plate 505′). Thethree-dimensional (3D) coordinates data obtained from the plural framesof the different high speed tracking cameras that have respectivedifferent points of view (POV's) on the play action of the focused-uponplayer are transmitted to a corresponding 3D curves generating unit 660.Here the initial intertwining of 3D coordinates derived from thedifferent cameras takes place as depicted for example by sample points662 s of FIG. 6 (and also by 262 s of FIG. 2). An initial or firstguess, 3D motion curve 662 f is generated so as to be fitted byinterpolation on or between the intertwined 3D sample points 662 s. Avariety of different techniques may be used for generating the initialor first guess, 3D motion curve 662 f including, but not limited to,restricting the fitted curve to an N'th order polynomial where worldtime (Tw) is the variable raised to first, second and/or higher powers.Then, the initial or first guess, 3D motion curve 662 f is optionallymodified (e.g., its motion describing resolution is enhanced) bysubjecting it to physical motion rules and/or biometric relationscompliance rules stored in a correction unit such as 665. Unit 665 getsits current biometric relations compliance rules for each respectiveplayer from the database 670. More specifically, the focused-upon playermay have gained or lost weight and/or muscle mass in different parts ofhis/her body and these parameters have been updated into the database670 before correction unit 665 provides the biometric relationscompliance rules for use in enhancing the motion-describing resolutionof the initial or first guess, 3D motion curve 662 f.

Descriptions 671 of one or both of the initial or first guess, 3D motioncurve 662 f and the enhanced motion-describing curve (denoted as dashedcurve 662 f) are stored in the database 670. The descriptions may comein various forms, including, but not limited to: a first mathematicalexpression defining all spatial points versus time of the determinedthree dimensional (3D) smooth and continuous motion curve; coefficientsof the first mathematical expression; one or more graphic curves (e.g.,the Tw versus Zw curve 662 _(Zt)) defining all spatial points versustime of the determined three-dimensional (3D) smooth and continuousmotion curve; sample points in tabular form identifying spatial pointsand their respective timings along the determined three-dimensional (3D)smooth and continuous motion curve; a second mathematical expressiondefining first derivatives (e.g., dXw/dTw, dYw/dTw, dZw/dTw) versus timeof spatial points of the determined three-dimensional (3D) smooth andcontinuous motion curve; a third mathematical expression defining secondderivatives versus time (e.g., d²Xw/dTw², d²Yw/dTw², d²Zw/dTw²) ofspatial points of the determined three-dimensional (3D) smooth andcontinuous motion curve; sample points in tabular form identifyingpoints of potential interest of the determined three-dimensional (3D)smooth and continuous motion curve, the points of potential interestincluding at least one of maximums, minimums, means and medians of thespatial points or velocities or accelerations associated therewith.

For one or both of the descriptions 671 of the initial or first guess,3D motion curve 662 f and the enhanced motion-describing curve 662 f, aframes to curves associating unit 680 is used to automatically logicallylink each frame from the kept footages to a corresponding segmentportion of the curve so that, when an analyst wants to review thecorresponding one or more footage frames that were used to produce anidentified portion of the curve, the frames to curves associations canbe used to retrieve the appropriate frames from the database 670. Dashedline 681 represents an example of such a frame to curve portionassociation. Here frame 191 of high speed tracking camera 1B islogically linked to the indicates portion of the motion curve 662 _(Zt).The frames to curves associations are stored in the database 670.

Moreover, for one or both of the descriptions 671 of the initial orfirst guess, 3D motion curve 662 f and the enhanced motion-describingcurve 662 f, a points of interest identifying unit 690 is used toautomatically identify potential points of possible interest along thegenerated curves. For example the timings of peaks along a ZtTw versusZw curve 662 _(Zt) that describes the motion of a baseball pitcher'strailing ankle may be of interest. The specific attributes of eachmotion curve that may be of interest may vary from sport to sport andbody part to body part. In one embodiment, the amount of potentialenergy (mgZ_(w)) versus kinetic energy (0.5*m*(dZw/dTw)̂2) stored in agiven body part at each instant of world time Tw may be of interestand/or minimums and maximums of such attributes may be of interest andthe points of interest identifying unit 690 is configured to and used toautomatically identify such points along respective motion curves. Theresults produced by the points of interest identifying unit 690 areautomatically stored in the database 670. Later, an analyst may call upsuch data or query for it using an appropriate database querying unit(e.g., 695) when searching for possible cross correlations betweencertain motion attributes of respective player body parts (e.g., ankle,elbow, etc.) versus positive or negative game outcomes 674 that are alsostored in the database and logically linked to respective play actions.

It is to be understood that various ones of the functionalitiesdescribed herein may be implemented using one or more processor readablestorage devices having processor readable code embodied thereon forprogramming one or more processors to perform the processes describedherein. The processor readable storage devices can include computerreadable media such as volatile and nonvolatile media, removable andnon-removable media. By way of example, and not limitation, computerreadable media may comprise computer storage media and communicationmedia. Computer storage media includes volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by a computer. Communication media typically embodiescomputer readable instructions, data structures, program modules orother data in a modulated data signal such as a carrier wave or othertransport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal. By way of example, and not limitation, communicationmedia includes wired media such as a wired network or direct-wiredconnection, and wireless media such as acoustic, RF, infrared and otherwireless media. Combinations of any of the above are also includedwithin the scope of computer readable media.

Accordingly, a method has been provided of determining three-dimensional(3D) performance attributes of an in-the-field and moving sportsparticipant who, at least at certain times routinely hovers about apredetermined hovering area while participating in a live in-the fieldsports event, where the moving sports participant has a plurality ofidentifiable body parts, and where the method comprises: receiving andrecording first, second and third two-dimensional (2D) images of themoving sports participant from respective first, second and third highspeed cameras, where each of the first through third cameras operates atmore than 30 frames per second and where the respective first throughthird cameras are respectively pointed to have different points of viewof the predetermined hovering area; and determining from at least two ofthe received and recorded first through third two-dimensional images, athree-dimensional (3D) smooth and continuous motion curve of a selectedone of the identifiable body parts of the moving sports participant, thethree-dimensional motion curve covering a continuous segment of time inwhich the moving sports participant was performing an in-the-field playaction.

Moreover, a machine-implemented system has been provided for determiningthree dimensional (3D) performance attributes of an in-the-field andmoving sports participant who, at least at certain times routinelyhovers about a predetermined hovering area while participating in a livein-the-field sports event, where the moving sports participant has aplurality of identifiable body parts, and where the system comprises:first, second and third high speed cameras operating (semi-)asynchronously relative to one another, where each of the first throughthird cameras operates at more than 30 frames per second and where therespective first through third cameras are respectively pointed to havedifferent points of view of the predetermined hovering area; a footagerecording unit configured to receive and record corresponding first,second and third two dimensional (2D) images of the moving sportsparticipant from respective ones of the asynchronously operating first,second and third high speed cameras; and recorded footage discardingunit configured to determine which segment parts of the received andrecorded first through third two-dimensional images are to beselectively kept and which to be discarded, where the kept segments areusable for determining a three-dimensional (3D) smooth and continuousmotion curve of a selected one of the identifiable body parts of themoving sports participant, the three-dimensional motion curve covering acontinuous segment of time in which the moving sports participant wasperforming an in-the-field play action.

The foregoing detailed description of the present disclosure ofinvention has been presented for purposes of illustration anddescription. It is not intended to be exhaustive or to limit the presentteachings to the precise forms disclosed. Many modifications andvariations are possible in light of the above teachings. The describedembodiments were chosen in order to best explain the principles of thedisclosure and its practical application, to thereby enable othersskilled in the art to best utilize the teachings in various embodimentsand with various modifications as are suited to the particular usecontemplated. It is intended that the scope of the disclosure includethe claims appended hereto.

The invention claimed is:
 1. A system for determining multi-dimensional(mD) performance attributes of a sports participant comprising: at leastthree high speed cameras configured for network communication with atleast one server computer, at least one local computing device, and atleast one processing facility; wherein the at least three high speedcameras are operable to capture two-dimensional (2D) images of a sportsparticipant; wherein the at least one processing facility is operableto: store the 2D images of the sports participant in a database; developa mD motion curve for at least two identifiable body parts of the sportsparticipant; identify camera frames and/or scan lines from the at leasttwo of the at least three high speed cameras associated with spatialpoints on the mD motion curve; and display the camera frames and/or thescan lines on the at least one server computer and/or the at least onelocal computing device.
 2. The system of claim 1, wherein the at leastone processing facility is operable to develop the mD motion curve usingthe respective temporal segment lengths of the 2D images of the sportsparticipant.
 3. The system of claim 1, wherein the at least oneprocessing facility is operable to intertwine and temporally dispose the2D images of the sports participant along a common timing reference anddiscard temporally adjacent 2D images.
 4. The system of claim 1, whereinthe at least one server computer and/or the at least one local computingdevice is operable to display camera frames corresponding to anidentified spatial point on the mD motion curve.
 5. The system of claim1, wherein the at least three high speed cameras are operable to senseelectromagnetic radiation outside of the range of visible light tofacilitate automated recognition of skeletal features, thermal hot spotson a body of the sports participant, and/or locations of distinguishingclothing fibers on a uniform of the sports participant.
 6. The system ofclaim 1, wherein the database stores data relating to the sportsparticipant and data including sport event results, surrounding fieldeffects, mental effects, and/or in-the-field biometric attributes. 7.The system of claim 6, wherein the in-the-field biometric attributesinclude a heart rate, a breathing rate, a perspiration level, a bloodpressure, a galvanic skin response, a topical temperature, and/orcranial electrical activity of the sports participant recorded at thesame time as a play action activity.
 8. The system of claim 1, whereinthe at least one processing facility is operable to transform the 2Dimages of the sports participant into four-dimensional (4D)player-biomechanical models.
 9. A system for determiningmulti-dimensional (mD) performance attributes of a sports participantcomprising: at least three high speed cameras configured for networkcommunication with at least one server computer, at least one localcomputing device, and at least one processing facility; wherein the atleast three high speed cameras are operable to capture two-dimensional(2D) images of a sports participant; wherein the at least one processingfacility is operable to: store the 2D images of the sports participantin a database; develop a mD motion curve for the sports participant; andconstruct a four-dimensional (4D) model of the sports participant basedon the 2D images of the sports participant.
 10. The system of claim 9,wherein the at least three high speed cameras operatesemi-asynchronously and/or asynchronously.
 11. The system of claim 9,wherein the at least one processing facility is operable to intertwineand temporally dispose the 2D images of the sports participant along acommon timing reference and discard temporally adjacent 2D images. 12.The system of claim 11, wherein the at least one processing facility isoperable to revise the intertwined 2D images such that the intertwined2D images conform to the mD motion curve developed for the sportsparticipant.
 13. The system of claim 9, wherein the at least oneprocessing facility develops the mD motion curve within a mD spacehaving at least a time (Tw) axis and three spatial and orthogonalcoordinate axes (Xw, Yw, Zw).
 14. The system of claim 9, whereinintrinsic and extrinsic parameters for each of the at least three highspeed cameras are provided to the at least one processing facility toconstruct the 4D model of the sports participant.
 15. The system ofclaim 9, wherein the at least one processing facility stores crossassociating points of motion relating to environmental conditions andsport event results with the 4D model of the sports participant in thedatabase.
 16. A system for determining multi-dimensional (mD)performance attributes of a sports participant comprising: at leastthree high speed cameras configured for network communication with atleast one server computer, at least one local computing device, and atleast one processing facility; wherein the at least three high speedcameras are operable to capture two-dimensional (2D) images of a sportsparticipant; wherein the at least one processing facility is operableto: determine a common timing reference for placing the 2D images of thesports participant; calculate respective temporal segment lengths forthe 2D images of the sports participant; and intertwine the 2D images ofthe sports participant such that the 2D images of the sports participantare approximately disposed in a temporal sense along the common timingreference.
 17. The system of claim 16, wherein the at least oneprocessing facility is operable to develop a mD motion curve foridentifiable body parts of the sports participant.
 18. The system ofclaim 17, wherein the at least one processing facility is operable toidentify camera frames and/or scan lines from at least two of the atleast three high speed cameras that correspond with spatial points alongthe respective mD motion curve.
 19. The system of claim 17, wherein theat least one processing facility is operable to fit the mD motion curvewith curve fit optimization techniques relative to the 2D imagescaptured by the at least three high speed cameras where a subset of the2D images of the at least three high speed cameras is given greaterweight due to closeness and/or a better point of view (POV).
 20. Thesystem of claim 16, wherein the at least three high speed cameras areconfigured to automatically determine the start and/or the end of a playaction activity and generate a unique ID label for the play actionactivity.